We are going to design a path tracking controller with switched model discretization methods in MPC frame. To address this problem, short time steps t1 are used initially to accurately model vehicle stability and longer time steps t2 are used later in the prediction horizon to efficiently extend the preview length. However, it shown " Output returned by S-function ‘MPC_11’ in ‘Controller/S-Function’ during flag=3 call must be a real vector of length 10 " when use Matlab to make a simulation.
I initially think that it is caused by the negative infinity of the prediction matrix. But I do not know how solve it.
Dear Qiangqiang Yao,
I suggest you to see links and attached files on topic.
https://www.mathworks.com/help/control/ug/continuous-discrete-conversion-methods.html
https://studywolf.wordpress.com/tag/zero-order-hold/
http://www.pages.drexel.edu/~pyo22/mem640/lecture03-Discrete/mem640Lecture-Discrete.pdf
Best regards
For linear systems, the closed form formulae are available in Digital Control textbooks as well as controls software packages (such as Matlab Control Toolbox).
The Zero-Order Hold (ZOH) method provides an exact match between the continuous- and discrete-time systems in the time domain for staircase inputs.
I suggest you to read these links :
http://arrow.utias.utoronto.ca/~damaren/s9.pdf
http://web.cecs.pdx.edu/tymerski/ece452/Chapter3.pdf
With Matlab, we have:
https://www.mathworks.com/help/control/ug/continuous-discrete-conversion-methods.html#:~:text=The%20Zero%2DOrder%20Hold%20(ZOH,linear%20model%20H(s).
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