NLMPC state function parameters
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I am currently developing a NLMPC controller for my system and the plant model described in the MPC uses a large array of parameters. Since I would like to adapt these parameters through my simulation I do not want to define them directly in my stateFcn.
According to the matlab documentation each one of the parameters should be define din the handle of the stateFcn, e.g.:
function stateFcCT(x, u, p1, p2, p3, p4, ..., p37)
These parameters are fed through a predefined bus which is also a little bit troublesome to define. There is no example using more than one parameter and since I am using an EKF I am not sure how to feed all these parameters into the EKF block....
Is there an easier way to define these parameters for my state functions?
I have tried using an external function but this seems to slow the simulations too heavily.
varargin also doesnt work in this case...
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Emmanouil Tzorakoleftherakis
2023-1-24
编辑：Emmanouil Tzorakoleftherakis
2023-1-27
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Hi,
Given that it is not possible to package all variables into a struct and feed them into the MPC controller that way (it's not supported), one alternative would be to create a vector with all the desired values and pass it as a single variable to the state function. You can then index into the vector to access individual parameters as needed
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Eduardo
2023-1-27
I have seen an example of NLMPC in the newer versions of Matlab (2021b upwards) that uses more than one parameter for the state function (Example)
This, however, is not working in my case. I get the following error while the model is compiling:
The line mentioned corresponds to the first use of the additional parameters in the state function:
ts = p(3);
In the base workspace "p" is defined as a column vector just as in the example [1;2;3;4;.....] and then fed into the bus creator element with a constant block.
Any idea why this is happening?
Eduardo
2023-1-27
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