Can I Disable the Kalman Filter for MPC?

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Nathan Batta
Nathan Batta 2020-3-30
回答： Emmanouil Tzorakoleftherakis 2020-4-21
Hello!
I am working on a project where I am building an MPC controller. However, when it tries to create the mpc object it gives the following error:
Problems encountered when designing the default state estimator (Kalman filter) used by MPC.
The "kalman" command could not compute a convergent Kalman estimator for this combination of plant, disturbance and noise
models.
To remedy the problem:
(1) Make sure that the plant model has minimal realization.
(2) Change disturbance and noise models such that all the states are observable.
Does anyone know how to fix this? I don't actually need to Kalman filter because I am not using noise but I am not sure how to do that. Thank you!

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回答（1 个）

Emmanouil Tzorakoleftherakis
The following example shows how to disable the built-in estimator:
https://www.mathworks.com/help/mpc/ug/custom-state-estimation.html

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