How to concatenate and minify JS files

Hi folks,
I'm sorry if I'm asking a trivial question but I'm not an expert...

I have many JS files into my website that must be loaded into a single page. I know that generally is possible to concatenate and minify all files to make a single call to webserver but my question is:

Is possible to concatenate and minify JS files in CodeIgniter or more generally, how can I achieve this result? For more informations I have a webserver in which is not present Node.JS.

One alternative that I know is concatenate files with a 3rd party tool and then add a custom option in CI config to decide if files must be loaded one by one or the single merged but it would be a complete custom (and manually) procedure...