diff --git a/.github/workflows/regenerate-matlab-bindings.yml b/.github/workflows/regenerate-matlab-bindings.yml
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+name: Regenerate MATLAB bindings
+# This action regenerates the MATLAB bindings for CasADi
+# Inspired from:
+#  * https://github.com/robotology/yarp-matlab-bindings/blob/master/.github/workflows/regenerate-matlab-bindings.yml
+#  * https://github.com/robotology/idyntree/blob/master/.github/workflows/regenerate-matlab-bindings.yml
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+    regenerate-matlab-bindings:
+        name: "Regenerate MATLAB bindings"
+        # Use Ubuntu Bionic as the https://github.com/casadi/casadi/wiki/matlab suggest to use GCC 7
+        runs-on: [ubuntu-18.04]
+        steps:
+        - uses: actions/checkout@v2
+    
+        - name: Install dependencies via apt
+          run: |
+            # Install CasADi dependencies
+            sudo apt-get update -y
+            sudo apt-get upgrade -y
+            # From https://github.com/casadi/casadi/wiki/InstallationLinux
+            sudo apt-get install -y build-essential gcc g++ gfortran git cmake liblapack-dev pkg-config coinor-libipopt-dev liboctave-dev --install-recommends
+            # From https://github.com/swig/swig/wiki/Getting-Started
+            sudo apt-get install -y libpcre3-dev autoconf automake libtool bison --install-recommends
+
+        # From https://github.com/casadi/casadi/wiki/matlab
+        - name: Install SWIG for that supports MATLAB required by CasADi
+          run: |
+            sudo apt-get remove swig swig3.0
+            cd ..
+            git clone https://github.com/jaeandersson/swig
+            cd swig
+            git checkout matlab-customdoc
+            sh autogen.sh
+            ./configure --with-matlab
+            make 
+            sudo make install
+
+        - name: Verify which SWIG and gcc is found 
+          run: |
+            which swig
+            swig --help
+            which gcc
+            gcc --version
+          
+
+        - name: Configure and compile CasADi
+          run: |
+            # Remove autogenerate files to ensure that removed files are actually removed
+            # ignore return status if the directory does not exist
+            git rm -r autogenerated || true
+            # Clone casadi from a given tag
+            git clone https://github.com/dic-iit/casadi.git
+            cd casadi
+            git checkout 3.5.5.3
+            # Compile casadi and generate MATLAB bindings
+            mkdir build
+            cd build
+            cmake -DWITH_IPOPT:BOOL=ON -DWITH_OCTAVE:BOOL=ON -DWITH_EXAMPLES:BOOL=OFF -DINCLUDE_PREFIX:PATH=include -DCMAKE_INSTALL_PREFIX=./install -DCMAKE_PREFIX:PATH=lib/cmake/casadi -DLIB_PREFIX:PATH=lib -DBIN_PREFIX:PATH=bin ..
+            make install
+            # Copy the MATLAB files from the install directory 
+            cd ${GITHUB_WORKSPACE}
+            mkdir -p autogenerated/matlab
+            cp ./casadi/build/install/matlab/*.m ./autogenerated/matlab
+            mkdir -p autogenerated/matlab/+casadi
+            cp ./casadi/build/install/matlab/+casadi/*.m ./autogenerated/matlab/+casadi
+            mkdir -p autogenerated/matlab/octave-extra/
+            cp ./casadi/build/install/matlab/octave-extra/*.m ./autogenerated/matlab/octave-extra
+            # Copy the mex C++ file from the build directory
+            mkdir -p autogenerated/cxx
+            cp ./casadi/build/swig/*.cxx ./autogenerated/cxx
+            cp ./casadi/build/swig/*.h ./autogenerated/cxx
+            # Remove casadi directory
+            rm -rf casadi
+            
+        - name: Check local changes due to bindings generation
+          run: |
+            git status
+            
+        - name: Create Pull Request
+          id: cpr
+          uses: peter-evans/create-pull-request@v3
+          with:
+            commit-message: 'update matlab bindings'
+            committer: GitHub <noreply@github.com>
+            branch: regenerate-matlab-bindings
+            delete-branch: true
+            title: 'update matlab bindings'
+            body: |
+              This is a PR that regenerated the MATLAB/Octave CasADi bindings.
+                            
+              For more info, check the documentation of this repo. 
+
+        - name: Check outputs
+          run: |
+            echo "Pull Request Number - ${{ steps.cpr.outputs.pull-request-number }}"
+            echo "Pull Request URL - ${{ steps.cpr.outputs.pull-request-url }}"