MPC for a non-system

I want to design an MPC controller for a non-linear system. In each time step, the state space model is linearized and discretized again. As I have seen, the MPC toolbox uses only predefined controller, and can't update the controller, so I have not been able to use it so far.

Is it possible to use MPC toolbox to do it (updating the controller in each time step)?

Answer 1

[Shashank Prasanna]

MPC can be used to control a non linear plant, because the control output is computed at each time step based predicted plant outputs.

The plant model used to predict the plant output is a linearized plant model, and currently there is no support for online linearization of an onboard nonlinear plant model.

So to answer your question, yes MPC does update the control action at each time step and no does not linearize the nonlinear plant model at each time step.