Problem with MPC Control (Poor Tracking)
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I'm trying to get an MPC controller working on this discrete state space model.
zc = 0.6;
g = 9.81;
dt = 0.01;
A = [1 dt (dt^2)/2;
0 1 dt;
0 0 1];
B = [dt^3/6
C = [1,0, -zc/g];
D = ;
model = ss(A,B,C,D,dt)
I have used mpcDesigner to get a controller with preview references, but I cannot get a good step response even after adjusting the closed loop Performance slider.
I'm new to MPC and I think that I'm missing something very obvious.
Keyur Mistry on 24 Sep 2020
I understand you are trying to get good step response of the system using MPL Designer app. After analyzing the system, I can say system is uncontrollable as determinant of the controllability matrix for the system is in the range of 10^-12.
To find controllability matrix you can use “ctrb” command:
To find determinant of matrix you can use “det” command:
fouad koudsi on 26 Oct 2020
Edited: fouad koudsi on 26 Oct 2020