Hi Kiran,
I understand that you are looking to debug the following error:
Plant model cannot be a pure direct feed-through system without additional dynamics error.
Kindly provide the complete model & files associated with this error. MPC Controllers include a linearized plant model. If the model linearizes to "ss(0,0,0,0)", then the above error message will appear.
You can resolve the error by the following the below mentioned steps:
- Try specifying input and open-loop output linearization points at the "Measured Outputs" signal and "Manipulated variable" signal, as shown in : https://www.mathworks.com/help/slcontrol/ug/linearize-simulink-model.html
- Specify the operating tpoint at different time points that are indicative of standard operating conditions of the plant model using the "findop" function, as shown in : https://www.mathworks.com/help/slcontrol/ug/findop.html
- Linearize the model and ensure that linearization is not "ss(0,0,0,0)".
- Return to "MPC Designer". Navigate to "Simulink Operating Point" section, and use the newly obtained time point as your operating point, as shown in : https://www.mathworks.com/help/mpc/gs/designing-a-model-predictive-controller-for-a-simulink-plant.html
You may refer to the following MATLAB answer to know more about the error :
Hope this helps.
