Can I Disable the Kalman Filter for MPC?

Hello!

I am working on a project where I am building an MPC controller. However, when it tries to create the mpc object it gives the following error:

Problems encountered when designing the default state estimator (Kalman filter) used by MPC.
The "kalman" command could not compute a convergent Kalman estimator for this combination of plant, disturbance and noise
models.
To remedy the problem:
(1) Make sure that the plant model has minimal realization.
(2) Change disturbance and noise models such that all the states are observable.

Does anyone know how to fix this? I don't actually need to Kalman filter because I am not using noise but I am not sure how to do that. Thank you!

Answer 1

[Emmanouil Tzorakoleftherakis]

The following example shows how to disable the built-in estimator:

https://www.mathworks.com/help/mpc/ug/custom-state-estimation.html