Size mismatch in matrix multiplications

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chuyen hoangcao 2020-10-25

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https://ww2.mathworks.cn/matlabcentral/answers/625628-size-mismatch-in-matrix-multiplications

评论： chuyen hoangcao 2020-10-25

I had some error in my Matlab function block but i can not solve ,please help me.

function Tl = fcn(e,s,t,Cl,gl)
lamda = 0.6; kt = 8; p = 0.8;ep=3;d=1.2;
w0 = 0.2+0.3*sin(15*t);
theta = [0.99; 0.12; 0.28; 1.02; 0.20];
theta0 = [0.56; 0.23; 0.19; 0.97; 0.18];
%Matrices of dynamic equation.
Ce = Cl/(1+0.2*sin(3*t));
ge = gl/(1+0.1*sin(4*t));
Yl = (Ce*lamda*e+ge)/theta;
% dieu kien theta
if norm(transpose(Yl).*s)> ep
    Rotheta = -p*(transpose(Yl).*s/norm(transpose(Yl)*s));
else 
    Rotheta = -p*transpose(Yl).*s/ep;
end
% dieu kien cua w estimation
if norm(s) > ep
    Row = d*s/norm(s);
else 
    Row = d*s/ep;
end
thetae = theta0 + Rotheta;
we = w0 + Row;
Tl = Yl*thetae - kt*s +we;

Errors: Size mismatch (size [5 x 1] ~= size [2 x 1]).
Function 'Robust Controller/Controller' (#74.318.334), line 15, column 9:
"transpose(Yl).*s"
Undefined function or variable 'Rotheta'. The first assignment to a local variable determines its class.
Function 'Robust Controller/Controller' (#74.562.569), line 27, column 19:
"Rotheta".

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dpb 2020-10-25

Well, now you have an orientation problem of a column vector and row vector. Again, matrix operations must follow rules for matrix algebra in having consistent dimensions for the respective operation.

We still don't know anything about the problem to be able to tell you which should be the transposed operation; you're the only one who knows the linear algebra behind what you're trying to code.

chuyen hoangcao 2020-10-25