Subscripted assignment dimension mismatch.
2 views (last 30 days)
Show older comments
When I changed the value of C from [0 1] to eye(2) I am getting the following error:
Subscripted assignment dimension mismatch.
Error in set_quasi (line 46)
Phi( (i-1)*nu+1:i*nu, (i-1)*nx+1:i*nx) = Ctid
Please help me to resolve this.
I have attached my code also.
clc
clear
% define model parametres
Kp=3.3; Ao1=0.1781; Ao2=0.1781; At1=15.5179;At2=15.5179; g=981;Le1=15; Le2=15;
Ac=[(-Ao1*sqrt(g/(2*Le1))/At1) 0;(Ao1*sqrt(g/(2*Le2))/At2) (-Ao2*sqrt(g/(2*Le2))/At2)];
Bc=[Kp/At1;0];
Cc=[0 1];
%discrete time model
dt=0.01; %sampling time
sys=ss(Ac,Bc,Cc,0);
ds=c2d(sys,dt);
Ad=ds.a; Bd=ds.b; Cd= ds.c;
N = 9;
u_max = 18;
u_min = 2;
Atid=[Ad zeros(2,1);eye(1) zeros(1,2)];
Btid=[Bd;zeros(1)];
Ctid=[Cd zeros(1)];
% Number of states and control signals
nx = size(Atid,2);
nu = size(Btid,2);
% LQR values
Q_mat =[Ctid'*Ctid];
S = eye(nu);
R = 0.00001;
[~,P,~] = dlqr(Atid,Btid,Q_mat,R);
%% Reference Parameters
% Initilize matrices
% xf = zeros(1:nx)';
xf = [15 15 0]';
% Initilize QP matrices
Psi = zeros(nx*N, nx);
Omega = zeros(nx*N, nu*N);
Phi = zeros(nu*N, nx*N);
H11 = zeros(nu*N,nu*N);
H22 = zeros(nx*N,nx*N);
H33 = zeros(nu*N,nu*N);
H44 = [zeros(nx,nx*(N-1)) eye(nx)];
% Construct QP matrices
for i = 1:N
Psi( (i-1)*nx+1:i*nx, :) = Atid^i;
Phi( (i-1)*nu+1:i*nu, (i-1)*nx+1:i*nx) = Ctid
H11( (i-1)*nu+1:i*nu, (i-1)*nu+1:i*nu) = R;
if i<N
H22( (i-1)*nx+1:i*nx, (i-1)*nx+1:i*nx ) = Q_mat;
H33( (i-1)*nu+1:i*nu, (i-1)*nu+1:i*nu ) = S;
else
H22( (i-1)*nx+1:i*nx, (i-1)*nx+1:i*nx ) = P;
end
for j=1:i
Omega( (i-1)*nx+1:i*nx, (j-1)*nu+1:j*nu ) =[Atid^(i-j)*Btid] ;
end
end
4 Comments
Answers (0)
See Also
Categories
Find more on Startup and Shutdown in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!