Dimension of Uncertainty to use Robust MPC Framework

[Sara]

Hi. 

Is it possible to solve Robust MPC in YALMIP under more than one type of uncertainty? 

Because, I have 2 States, 3 Control inputs and 3 types of uncertainty with different  boundaries. When I try YALMIP, I receive the following messages: 

Error using filter_eliminatation (line 15)

Cannot get rid of nonlinear uncertainty in uncertain constraint

Error in robustify (line 141)

[UncertainModel.F_xw,F_elimination] = filter_eliminatation(UncertainModel.F_xw,w,1,ops);

[Johan Löfberg]

Yes, it should be possible as far as I can remember. You would have to supply fully reproducible code to diagnose this