MPC nlp problem, minimizing input change rate

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Robin

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Apr 19, 2022, 10:51:03 AM4/19/22

to CasADi

Hello,

I am writing my master thesis, which is to control a PMSM basically. Which is very non linear. I have got a decent MPC working with Casadi in simulink, but the result should be alot better (read alot of other thesis).

I want to minimize the following cost function:
Skärmklipp.PNG

I have made a symbolic object "SX" called "delta_u" which looks like:
delta_u(1) = U(1) - U(0)
delta_u(2) = U(2) - U(1) and so on. But I am getting the following error message in simulink:
Skärmklipp2.PNG