MPC linearization error: "NaN's cannot be converted to logicals"

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Ramin Farshchi 2020-12-17

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https://ww2.mathworks.cn/matlabcentral/answers/696620-mpc-linearization-error-nan-s-cannot-be-converted-to-logicals

I have an XT28 model. I have tried to add a MPC controller (MPC toolbox) to one of the legs.

In the wheel2roadConnection block (green text) there is a sensing block.

During compilation, 1.0e-05 and -1.0e-05 (in pair) are sent from the sensing block to the wx, wy, vx and vy inputs of the forces block. I printed the value of these signals using a matlab function. These signals eventually reach the slipvel subsystem

The signals does NOT change even if there is a gain or square block. When it comes to the sqrt in the slipvel subsystem, a NaN error occurs due to trying to take the square root of a negative value.

I tried the MPC toolbox with another simple model. I added a sqrt block to the mv port of the MPC and got the same error (during compilation, the pair of -1e-05 and 1e-05 is sent out from the mv port of the MPC and I cant change these values).

Without the MPC toolbox the value of the signals gets changed correctly when it enters for example a square block or gain block.

I use the version: MATLAB R2019b

Do anyone know why I get this problem when I use the MPC toolbox?