(Simulink/MPC) Unable to linearize with an if...else loop

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Tan Edwin
Tan Edwin 2011-5-27
I am trying to design an MPC Control for my project but it seems that the Simulink cannot linearize my model accurately due to the presence of an embe dded-MATLAB function block containing an if...else loop.
My model looks like this: (dunno how to upload photos. sry)
Embedded MATLAB -> Plant Model -> MPC--
^ |
|______________________________________|
And th function in the embedded MATLAB is
function EmbeddedMATLAB=Output(t,u)
% t = time and u= output from MPC Controller
if t<3
Output=100;
else Output =u;
end
After designing the MPC Controller, the linearized result for the MPC Controller was 0. So how shlould i go about doing it?

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回答（1 个）

Erman Korkut
Erman Korkut 2011-5-31
Hi Tan,
The Embedded MATLAB function blocks are linearized using numerical perturbation by default. Your code seems to indicate that if you linearize your model at a time smaller than 3, the embedded matlab block's output is not a function of input u; instead it is fixed and thus its derivate is zero, thus linearizing to zero.
If you would like to specify a custom linearization for your Embedded MATLAB function block, you can right-click on it and select Linear Analysis->Specify Linearization. Then you can specify the linearization of this block.
Thanks, Erman

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