MPC controller Direct feedthrough from manipulated variables to any output in Plant is not allowed.
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I'm trying to develop a MPC controller for the Stewart Platform. When I try to define MPC structure by linearization, it tells me this. What could be wrong with my model?
Stewat Platform plant input(6): forces to the 6 legs, output(9): 3xpositions, 3xangular rate, 3xtranslational acceleration
![微信截图_20190725055902.png](https://www.mathworks.com/matlabcentral/answers/uploaded_files/231195/%E5%BE%AE%E4%BF%A1%E6%88%AA%E5%9B%BE_20190725055902.png)
5 commentaires
军
le 15 Fév 2023
Thank you for your answer, how to add a unit delay onto the MV? Can you give a example!I'm look forward to recieving your answer as soon as quickly.
Danish Iqbal
le 3 Avr 2023
Modifié(e) : Danish Iqbal
le 3 Avr 2023
You have to add a block simpy unit step delay after the output of the controller and before the input of the plant.
Réponses (2)
Nick Rozenauers
le 1 Nov 2022
As per above --> The reason the error is occuring is because you do not have any delays between your input and outputs (unrealistic in reality).
If you are estimating your TF from I/O (greybox or blackbox modelling), Matlab will estimate the delays for you. Your plant design will work then:
iodelay = NaN;
estTF = tfest(iddataOBJ,pole,zero,iodelay);
1 commentaire
军
le 15 Fév 2023
Thank you for your answer, how to add a unit delay onto the MV? Can you give a example!I'm look forward to recieving your answer as soon as quickly.
MUHAMMAD
le 8 Déc 2023
Solution:
I had same problem and It is solve by adding time delay.
You can add time delay in between MV and plant. I did using matlab command like like
plant = tf([num],[den],'OutputDelay',1.5 )
I hope this answer helped you.
Example
%%Transfer Function By System identification
num = [-1.324 6.6e05 -6.914e09 5.128e13 -1.054e19]
den = [1 1.99e04 1.371e09 1.145e13 4.037e17]
plant = tf([num],[den],'OutputDelay',1.5 )
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