Adaptive MPC: Dimension Error of Block Input

I have a problem with the use of adaptive mpc block in matlab. The input dimensions of DX to the adaptive mpc block seem to be wrong and the errors (as can be seen in the picture) occur. The simulation uses a simple 2dof kinematic single track vehicle model; state matrices: A[0 vx; 0 0], B[1 0; 0 1], C[1 0; 0 1], D[0 0; 0 0]; mv=2; mo=2; It works using the standard MPC controller, but I have a problem using it for the Adaptive MPC Block. How can I solve this problem?

[Andre Pereira]

Hello Peter, right now i am trying to implementing a adaptive MPC and i am having the same issues that you had.

I would like to ask you if you found the aswer to fix it. If yes, would you kindly share it ?

Thank you and have a good day

[Jakobus Louw]

I have exactly the same problem. Did any of you find the solution? Please make a public post if you have.

[Seyyed Ali Ghorashi Khalil Abadi]

I have also the same issue, Is there anyone who know what shoud I do?

Answer 1

[Jakobus Louw]

It is a bug in the Adaptive MPC block where it checks for the correct dimentions of the input ports. For some reason it does not accept a vector signal, but checks for a matrix signal.

I added Signal Specification blocks to all the "MPC Matrix Signal Check <>" subsystems to explicitly state the dimentions.

I found this subsystem by following the link in the Diagnostics Panel, and disabling the link so that I could edit the block locally (not the library block).

That cleared up the error.

[Seyyed Ali Ghorashi Khalil Abadi]

I did it but it did not solve the issue. :(

[Jakobus Louw]

Did you do it for each of the input ports? If you fixed one the error may now be on one of the other ports.

Can you send more info or a screenshot or even your simulink file?

[mukesh pandey]

Hi

I have the same issue.if anyone have the solution.please share here

[mukesh pandey]

Can you tell me ,how to put matrix order in signal specification? because,I am not able to do that.If possible,Please send the screenshot of 'Block parameter' of signal specification.

[Jakobus Louw]

[Mozhgan Sabz]

Jakobus, I have the same problem, would you please help me? can you please email me? my email adress is [e-mail]

I would be really grateful

[Yash Talekar]

Hi Jakobus,

We are having the same issue with the DX port in particular. Do you know what a possible fix for this would be? It gives us a similar issue with the dimension check in Version 2023.

[Amr Elsherbiny]

Jakobus Louw, I tried your method and it worked with me. I had the same issue with linear MPC block

[Amr Elsherbiny]