Francis

Hi Mohamed, I am facing a similar problem now. Is there any update on this? I tried to estimate the disturbance. To to do this, I defined it as the control input. However, the estimator did not converge. Thanks.

For the sign function, maybe you can trying rewriting sign(x) as x/abs(x)?

Hi Rien, Thanks for your explanation. I'll try that. Best regards, Francis

Hi all, For estimation problem, measurements with different updating frequency might be used. For example, the updating frequency for measurement y1 is 10 Hz, and that for y2 is 1 Hz. In the paper "Fast auto generated ACADO integrators and application to MHE with multi-rate measurements", it mentioned this problem but didn't go into detail on how to implement this in ACADO toolkit. My questions are as follows: Is this supported in the toolkit? How to do that? If continuous output functionality is...

Hi Rien, Further tests suggest that it does seem like only certain combinination of options works. For example, the following option works. mhe.set( 'SPARSE_QP_SOLUTION', 'FULL_CONDENSING_N2'); mhe.set( 'FIX_INITIAL_STATE', 'NO'); mhe.set(' CG_HARDCODE_CONSTRAINT_VALUES', 'NO'); But when I change the 'SPARSE_QP_SOLUTION' to ‘CONDENSING' the compilation fails. Also, whenever the following two options exist together, the compilation fails. mhe.set(' CG_HARDCODE_CONSTRAINT_VALUES', 'NO'); mhe.set('CG_USE_ARRIVAL_COST',...

Hi Rein, Thanks for your reply. It's very strange that it just didn't succeed even though I used the combination of options you suggested as I did before both in C++ and in MATLAB interface. In C++, there is no error message at all. In MATLAB, it just says that "error C2039: “lbValues”: is not a member of “ACADOvariables_". In MPC formulation, the "CG_HARDCODE_CONSTRAINT_VALUES" option works just fine. Attached are the C++ and MATLAB files I tested modified from the crane example. Thank you in advance....

I did more tests on this. Under C++ environment it could successfully finish the compilation process and generate the revelant C files. However, there are no lbValues and ubValues in the generated "acado_common.h" file. While under MATLAB interface, it couldn't even finish the compilation process. It gives errors like lbValues is not a member of ACADOvariables. Indeed there are no such variables in the "acado_common.h" file. It is very strange what happened above. On page 110 of the ACADO Toolkit...