Hi David Arenes,
The warning you are seeing indicates "direct feedthrough" from the manipulated variables (MVs) to the outputs (OVs) in your nonlinear MPC (NMPC) setup. MATLAB's MPC toolbox uses this warning to highlight a potential issue that in direct feedthrough, the output at the current timestep y(k) depends on the manipulated variable mv(k).
To rectify this warning you can:
- Add a delay in your system model to eliminate the direct dependency of y(k) on mv(k).
- If you want to simulate some dynamics, you can modify the output function to calculate y(k) based on the previous state or delayed manipulated variable.
You can refer the below MATLAB Answer for more info:
