Bypassing the internal (Linear) observer in MPC toolbox 3

I wish to use my designed non-linear Observer with the MPC block (MPC toolbox v3.1)for the real-time control of a system. However, the MPC block contains its own linear observer for state estimation.

How can I bypass (disable) the internal linear observer of the MPC block in Simulink for real-time implementation.

Answer 1

[Bill Tubbs]

Might be 10 years too late but I had this question and it looks like you can set the following check box below in the Simulink MPC block parameters:

When I did this, the usual 'measured output' inport is replaced with an inport labelled `x[k|k]` for the state estimates from some other observer.

[I'm using MATLAB 2019b.]