MPC for robot link actuation

Hi,

I imported a simple model with one joint from SolidWorks and connected DC motor with MPC and PID:

PID after tuning works best:

But MPC has large difference between MPC Designer and real joint position. Why? Graphics should be the same.

Designing MPC step by step:

May be there are problems with linearization or initial conditions? There is a limitation of 10 files. I upload .slx and .m to Google Drive: Simulink model

Answer 1

[Afomiya Megersa]

hello

I have the same problem too.did u fix it

[Sam Chak]

@Afomiya Megersa, please post your MATLAB/Simulink-related problem in a new post.