Discretisation of a non-linear LTI system

Dear Matlab community

I have a non-linear system which I want to implement in a model predictive control algorithm. Therefore, I would have used symbolic toolbox. My system is given time continuous and a discretization with the function c2d is not permitted. How can I do this?

Answer 1

[Emmanouil Tzorakoleftherakis]

If you have the dynamics in symbolic form, you need to turn it into a form that can be directly consumed by Model Predictive Control Toolbox (which will also allow c2d if needed). I would recommend looking at this example that derives equations symbolically and then designs a nonlinear MPC controller

[Benjamin Pommer]

Thank you for your answer. I didnt use the matlab function but coded the MPC myself. Anyways, I solved the issue by implementing a difference method. Runge-Kutta did the best job in my case.