Time variable in MPC plant

MPC Discussions
1

Hi,

Is there a way to include time in the plant dynamics in continuous-time NMPC?
For example, I want to set model.f_expl_expr = f(x,u,t); where t is time variable and f is the continuous-time plant model function I defined.
Thank you in advance.

2

Hi :wave:

time-varying dynamics are currently not natively supported in MATLAB.

You can, however, formulate time-varying dynamics by including a clock state, i.e. you augment your state vector with an additional state t with dynamics \dot{t} = 1.

Best, Katrin

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