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Can I Disable the Kalman Filter for MPC?

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Nathan Batta
Nathan Batta on 30 Mar 2020
I am working on a project where I am building an MPC controller. However, when it tries to create the mpc object it gives the following error:
Problems encountered when designing the default state estimator (Kalman filter) used by MPC.
The "kalman" command could not compute a convergent Kalman estimator for this combination of plant, disturbance and noise
To remedy the problem:
(1) Make sure that the plant model has minimal realization.
(2) Change disturbance and noise models such that all the states are observable.
Does anyone know how to fix this? I don't actually need to Kalman filter because I am not using noise but I am not sure how to do that. Thank you!


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