how to add disturbance into MPC block without remaking it from the beginning?

Hello,

so i am trying to add imports inputs and output to MPC;

but I keep having this error: "hessian matruix to the QP problem close to singular, augmenting diagonal terms";

any suggestion?

I tried to change the solver, but it didn't work;

Answer 1

[Anshuman]

Hi Mounira,

One of the possible reason behind this error coud be incorrect constraints. You can verify the inputs and constraints of your MPC problem as highly restrictive constraints can lead to a nearly singular Hessian matrix.You can also consider adding a small regularization term to the diagonal elements of the Hessian matrix. This process, known as regularization, can help improve the numerical stability of the problem.

Although changing the solver didn't work initially, but you can try using different QP solvers. Some solvers are better equipped to handle numerical issues than others. Exploring solvers with different algorithms might yield better results.