model predictive control toolbox for non-proper system

I have a state space model of a non-proper system (D matrix is not zero). is there any way to use MPC toolbox for such system? it seems that MPCtool does not support nonproper models. thanks, Arvin

Answer 1

[Arkadiy Turevskiy]

Here is the text from the doc:

The Model Predictive Control Toolbox software prohibits direct (instantaneous) feedthrough from a manipulated variable to an output. For example, the CSTR model could include direct feedthrough from the unmeasured disturbance, CAi, to either CA or T but direct feedthrough from Tc to either output would violate this restriction. If the model had direct feedthrough from Tc, you can add a small delay at this input to circumvent the problem.

[Pablo sanchez]

Hi Arkadiy¡

You know some bibliography for It´s justified this concepts in D matrix non zero?

Thank you very much¡