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SINDy_MPC for MPC_F8 does not work. #5

Open jdawg86 opened 2 years ago

jdawg86 commented 2 years ago

When I run MPC_F8 I get this error. Seems like there are some array-wise issues with the code.

`Warning: Directory already exists.

In MPC_F8 (line 9) Warning: Directory already exists. In MPC_F8 (line 10) Simulation started. It might take a while... Unable to perform assignment because the left and right sides have a different number of elements.

Error in ConstraintFCN (line 39) cy(2*ct-1) = -xk1(1)+zMin;

Error in MPC_F8>@(u)ConstraintFCN(u,uHistory(:,ct),xhat,Ts,N,LBo,UBo,LBdu,UBdu,[]) (line 52) CONSFUN = @(u) ConstraintFCN(u,uHistory(:,ct),xhat,Ts,N,LBo,UBo,LBdu,UBdu,[]);

Error in fmincon (line 655) [ctmp,ceqtmp] = feval(confcn{3},X,varargin{:});

Error in MPC_F8 (line 53) uopt = fmincon(COSTFUN,uopt,[],[],[],[],LB,UB,CONSFUN,options);

Caused by: Failure in initial nonlinear constraint function evaluation. FMINCON cannot continue.`

orte94oros commented 9 months ago

Were you able to correct the issue?