Constraints violation in MPC design
15 views (last 30 days)
Osamah Ali Mohammed Saad on 24 Oct 2023
I am building a mpc on MATLAB/Simulink. I applied some equality and inequality constraints to the controller (states and unputs); however, there are inequality state constraints that are violated. What might be the reason behind that?
Emmanouil Tzorakoleftherakis on 27 Oct 2023
The more constraints you are adding, the smaller the solutions space, the harder it gets for the solver to find a solution. If your constraints are too restrictive, you may be asking the controller to solve an infeasible optimization problem. You can easily check if that's the case by making sure that your constraints are soft. And always make sure to check the exit flag status to see if the controller was actually able to solve the problem or not.