Error in Truetime integration with MPC controller in 'highway lane following model'
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I have found this error when I implemeting highway lane following model with truetime . the error states as "Variable-step model 'HighwayLaneFollowingTestBench' references (via Model block 'HighwayLaneFollowingTestBench/Lane Following Controller') fixed-step model 'LaneFollowingController', which contains blocks with continuous and discrete sample times. Referencing a fixed-step model that contains both discrete and continuous components from a variable-step model is not supported."
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Any pathway how to solve this?
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Pratik
2024년 2월 5일
Hi Ashiqur,
As per my understanding, you are implementing highway lane following model with truetime. But there is an error when trying to run the model.
Referencing a fixed-step model with discrete and continuous states from a variable-step model is not supported as stated by the error message. Therefore, this is a limitation of Simulink, and your best workaround option is to set the top-level model to use a fixed-step solver, with the time step equivalent to the smallest step the variable-step solver would have used.
I hope this helps.
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