Bypassing the internal (Linear) observer in MPC toolbox 3
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I wish to use my designed non-linear Observer with the MPC block (MPC toolbox v3.1)for the real-time control of a system. However, the MPC block contains its own linear observer for state estimation.
How can I bypass (disable) the internal linear observer of the MPC block in Simulink for real-time implementation.
Bill Tubbs on 24 May 2021
Edited: Bill Tubbs on 24 May 2021
Might be 10 years too late but I had this question and it looks like you can set the following check box below in the Simulink MPC block parameters:
When I did this, the usual 'measured output' inport is replaced with an inport labelled `x[k|k]` for the state estimates from some other observer.
[I'm using MATLAB 2019b.]