How to define the ControllerInitialState in Model Predictive Control Toolbox?
2 views (last 30 days)
Show older comments
Hello, Im trying to simulate a nonlinearplant with a linear Model Predictive Controller in MPC toolbox. Im trying to design the controller by simulink and by the command line. I am a new with Matlab/Simulink by the way. I linearized the plant by myself, and I can simulate it against the nonlinear plant through Simulink and against the linearized plant through command line.
The problem arises when I want to define the last move of the controller, the initial state of the controller. I dont know how to do it. In the Model Predictive Control Toolbox™ Reference it is explained in page 1-92, but when I try to run in my code options.ControllerInitialState = Ulastmove being ulastmove the vector with the nominal value (or whatever) of the plant I have the next error:
"Error using mpc/sim (line 130) The "ControllerInitialState" property of "mpcsimopt" object must be a valid MPCSTATE object. Type "help mpcstate" for more information.
Error in mpc2dcommandlinecleanv2 (line 207) sim(MPCobj, Tstop, r, options)"
I dont understand, I tried to create an object called xmpc = mpcstate(MPCobj) as explanied in 1-96 of the reference, but I cant provocate that the last move before simulations is what I define previously.
Any help is welcome. I can provide more info if necessary. Thanks in advance. *******************
Edit: Solved
0 Comments
Answers (0)
See Also
Categories
Find more on Linear Plant Specification in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!