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MPC controller Direct feedthrough from manipulated variables to any output in Plant is not allowed.

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Lewis Liu
Lewis Liu 2019-7-25
回答： MUHAMMAD 2023-12-8
I'm trying to develop a MPC controller for the Stewart Platform. When I try to define MPC structure by linearization, it tells me this. What could be wrong with my model?
Stewat Platform plant input(6): forces to the 6 legs, output(9): 3xpositions, 3xangular rate, 3xtranslational acceleration
微信截图_20190725055902.png
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军
军 2023-2-15
Thank you for your answer, how to add a unit delay onto the MV? Can you give a example！I'm look forward to recieving your answer as soon as quickly.
Danish Iqbal
Danish Iqbal 2023-4-3
编辑：Danish Iqbal 2023-4-3
You have to add a block simpy unit step delay after the output of the controller and before the input of the plant.

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回答（2 个）

Nick Rozenauers
Nick Rozenauers 2022-11-1
As per above --> The reason the error is occuring is because you do not have any delays between your input and outputs (unrealistic in reality).
If you are estimating your TF from I/O (greybox or blackbox modelling), Matlab will estimate the delays for you. Your plant design will work then:
iodelay = NaN;
estTF = tfest(iddataOBJ,pole,zero,iodelay);
  1 个评论
军
军 2023-2-15
Thank you for your answer, how to add a unit delay onto the MV? Can you give a example！I'm look forward to recieving your answer as soon as quickly.

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MUHAMMAD
MUHAMMAD 2023-12-8
Solution:
I had same problem and It is solve by adding time delay.
You can add time delay in between MV and plant. I did using matlab command like like
plant = tf([num],[den],'OutputDelay',1.5 )
I hope this answer helped you.
Example
%%Transfer Function By System identification
num = [-1.324 6.6e05 -6.914e09 5.128e13 -1.054e19]
den = [1 1.99e04 1.371e09 1.145e13 4.037e17]
plant = tf([num],[den],'OutputDelay',1.5 )

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