Is it possible to pass simulink NMPC parameters as struct?

Currently I am developing a NMPC controller and the functions used for the algorithm (state definition, cost, etc.) make use or a broad array of parameters.

In Matlab I have used a structure to pass the parameters without problem, e.g.:

p.param1 = 2
p.param2 = 3
p.param3 = 4
nloptions = nlmpcmoveopt
nloptions.Parameters = {p}  % <--- works without a problem with nlmpcmove

While implementing the controller on Simulink I have found that the parameters should be given using a "Bus Creator" which should be predefined in Matlab with createParameterBus. This doesn´t allow the use of "struct".

I tried encapsulating my structure in a cell array but to no avail. When using my structure as a constant to the bus creator I get the following error:

Invalid setting in 'Bus Creator1' for parameter 'OutDataTypeStr'.
Caused by:
Error evaluating properties of Simulink.Bus object 'busNPC_2' in workspace 'base' (used by block 'Bus Creator1') 
Error evaluating DataType property. 
Not enough input arguments. 
Component:Simulink | Category:Block error

If I cannot use the structure I would have to pass the parameters separately to the functions (e.g. fun1(x,u, p1, p2, p3, p4, .......))

This would be rather bothersome and unappealing.

Any help/suggestions provided are really appreciated :)

[Alessandro Gaziano]

Same problem. Found any solution?

[Eduardo]

I ended up writing a function with a predefined structure containing my parameters.

This function gets then called by the MPC functions (states, cost, etc.).

[Eduardo]

The function ended up heavily slowing the simulation.

Right now I am trying to input the parameters as a cell array with the bus creator but I do not seem to be able to correctly use them in my state function......

[Osamah Ali Mohammed Saad]

Hi Eduardo,

Have you found a solution for this problem yet?

Answer 1

[Emmanouil Tzorakoleftherakis]

Please take a look at my answer here