Hi Anshul,
To resolve the issue with your MPC block in Simulink, consider the following key parameters and steps:
- Sampling Time: Ensure it's appropriate for your system's dynamics.
- Setpoint Configuration: Verify the setpoint (60000 encoder counts) is correctly set.
- Control & Prediction Horizons: Adjust these to improve performance.
- Constraints: Check constraints on control inputs and outputs.
- Model Accuracy: Validate the accuracy of the plant model.
- Tuning Parameters: Review and tune weights on control inputs and outputs.
- PWM Module Configuration: Ensure it can handle the frequency and duty cycle.
- Encoder Feedback: Confirm the accuracy and scaling of the encoder feedback.
- Simulation Settings: Verify simulation time and solver settings.
- Debugging & Logging: Use these tools to monitor signals and system response.
Hope this helps.
