Error NMPC Problem Formulation

[Betancourt20]

Hello, First, thank you for share with us your work. I was trying to run the first example but I got the following error

NMPC_Problem_Formulation Error using sym/vertcat (line 17) Error using maplemex Error, (in ArrayTools:-Concatenate) number of columns must match

Error in DynamicSystem/setf (line 5) obj.f = symfun(f,[obj.u;obj.x;obj.p]);

Error in OptimalControlProblem/setf (line 2) setf@DynamicSystem(OCP,f);

Error in NMPC_Problem_Formulation (line 33) OCP.setf(f);

I hope you can help with this. Best regards, Julio

[deng-haoyang]

Hi Julio,

Thanks for the feedback.

It seems you have installed Maple and the Maple sym function is called instead of the MATLAB one. Can you try "u = sym('u',[4,1])" in MATLAB and see if u is a 4x1 vector?

Look forward to your response. Deng

[Betancourt20]

Hi, Thank you for your response. Here is the Matlab console give after the command you told me before :

u = sym('u',[4,1])

u =

                           [u1, u2, u3, u4]

Thank you in advance, Julio Beancourt

[deng-haoyang]

Hi Julio,

Thanks for the response.

It seems that the sym function didn't return the right result (4x1 vector) because of the bug caused by the Maple sym function.

I have updated the source code to guard this and the problem might have been solved . Alternatively, you can call the Matlab sym function rather than the maple one by removing the maple path from MATLAB search path.

I hope this could solve the problem. Thank you. Deng

[Betancourt20]

Hi Deng, In fact as you said before, the problem was the symbolic Maple toolbox. So, I uninstalled the toolbox and that's it. Right now is working. Thank you so much for your help

Best regards, Julio