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How can I change multistage nlmpc Solver?

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William Notaro
William Notaro about 13 hours 前
I am trying to change nlmpcMultistage object solver from 'fmincon' to 'gmres' following this guide: https://www.mathworks.com/help/mpc/ug/control-robot-manipulator-using-cgmres-solver.html
However, I receive the following error:
"Error using nlmpcMultistage/set.Optimization
Invalid field name "Solver" found in the "Optimization" structure."
I also tried a suggestion such as to initialize the object with the Solver argument specified as: nlmpcMultistage(p,nx,'MV',1,'MD',2,'Solver','cgmres');
However I get the following error: Error using nlmpcMultistage
Input channel must be one of the following types: 'MV' (manipulated variable), 'MD' (measured
disturbance), or 'UD' (unmeasured disturbance).
Like the Solver option is not available.
Is there a way to change the solver to cgmres?
Thanks in advance

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