Inequality constraint cause infeasible results in NMPC

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Mert Buyukkopru
Mert Buyukkopru 2023-1-5
编辑： Mert Buyukkopru 2023-1-6
I built an NMPC controller for a quarter-car system with linear state functions. The controller will give feasible results when equality constraints are specified. However, once inequality constraints were defined in a function, the controller gave infeasible results.
ValidateFcns results are OK for both constraints. Is there any problem with the definition of inequalities in the custom inequality function ?
Equality Constraints:
ManipulatedVariables(i).Min/Max= -/+5000
Inequality Constraints:
u(2)−5000≤0 / u(2)+5000≤0
cineq = [U(2) - 5000; U(2) + 5000;]

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回答（1 个）

Torsten
Torsten 2023-1-5
Your constraints say that a number should be >= -5000 (Min/Max constraint) and that it should be <= -5000 (U(2)+5000). That's hard to handle for a solver. Just set U(2) = -5000 in your optimization problem.
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Torsten
Torsten 2023-1-5
5000<u(2)<-5000 := a*(x(2)- x(4))<u(2)<-a*(x(2)- x(4))
Do you know a number that is greater than 5000 and smaller than -5000 ? I don't.
Mert Buyukkopru
Mert Buyukkopru 2023-1-6
编辑：Mert Buyukkopru 2023-1-6
Yes, you are right. I modified the inequalities with the ones I use. But there are still some problem.

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