Simulink not recognizing blocks in the linearization path
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I am trying to simulate a MPC controller in a coupled tank plant but when I run the MPC toolbox my system is not being linearized. I was expecting matrices 2x2 for my state space system. I have attached the images of the screen of the model and the compilation from the control and estimation tool. Does anyone knows the reason why simulink is not linearizing this model?
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Arkadiy Turevskiy
2014-4-17
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I quickly tried setting up some values and linearizing plant model. My guess is that you are probably linearizing where your integrators are saturated, and therefore are getting zero linearization. Try to disable integrator saturation when designing MPC, then enable it back when running simulations.
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Arkadiy Turevskiy
2014-4-17
0 个投票
Hard to say exactly without having the model (can you attach it maybe?), but the likely scenario is that the root cause of the problem are the discontinuities in the model such as sign block.
A solution may be to specify custom linearization for such blocks as explained in the linearization troubleshooting section , specifically here .
2 个评论
Matheus Damasceno
2014-4-17
编辑：Matheus Damasceno
2014-4-17
Arkadiy Turevskiy
2014-4-17
Can you also provide all the parameters used in the model?
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