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Is it possible to provide output anticipation with the non linear Model Predictive Toolbox?
Hello, Yes it is possible to use previewing with nonlinear MPC, here is an example that shows how to do that.

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How to extract the trained RL agent in MATLAB to C++?
Please take a look at this doc page.

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In Simulink unable to change the simulation time
During training, each episode/simulation will last for Tf seconds at most. It may end sooner depending on the value of MaxStepsP...

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Does Simulink Coder support code generation of custom solver functions for Nonlinear MPC blocks?
Hi Arnold, Unfortunately, right now you can only generate code using 'fmincon'. Custom nlp solvers can currently only be used f...

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Invalid size or type for observation specification. Simulink Environment for Reinforcement Learning
I had a look at the attached zip. The error is on line 33 in 'Tentativo1.m'. This line should be mdl = 'RL'; % make sure your ...

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Error while training a two-agent environment: Action specification of agent at index 2 incompatible with environment
The issue seems to be that the action specifications do not match what the environment model expects. Whether you are using Simu...

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Using MPC Designer App with Plant Dynamics Model containing multiple Sign blocks
It seems like you have some kind of switched system (?). If that's the case, maybe try to linearize each dynamic model/"sign" se...

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constraint on action space somehow that each action can be chosen only once
Unfortunately, this is not possible as of R2022b out of the box. You would need to create a custom agent to implement this behav...

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Extended Kalman Filter state transition parameters
Glad you figured it out. By the way, this example shows the general workflow of using NLMPC + EKF with additional parameters

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RL Stop training criteria
I believe that for event-based training, you need to adjust your stopping/saving criteria accordingly. For example the agent wil...

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How to adjust internal sample time of MPC?
There is a way to do that, but first you need to consider whether you actually need to run your MPC controller that fast. As you...

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Transfer a variable at the end of one episode to the next episode when training an agent in RL
The way to do this would be using the reset function mechanism provided in Reinforcement Learning Toolbox. Please take a look at...

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DDPG Agent: Noise settings without any visible consequence
Your standard deviation is very high compared to the action range that you have set. As a result, when noise is added to the tan...

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Reinforcement learning agent stops training unexpectedly?
The picture also mentioned why training stopped in the last two rows. In this case, it seems you have a criterion that stops tra...

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Reinforcement learning unable to dupilcapte the best reward i had during training
Just because the reward of a single episode meets the desired performance, this does not mean that when you stop ttraining you s...

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Triggering an action of an RL agent in a Simulink environment (SimEvents) via event
As of R2022a you can train reinforcement learning agents with event-based simulations. Please take a look at the release notes h...

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Agent diverge after converge usingTD3
Please see answer here. This behavior could happen if the optimization moves to explore a different direction. I would suggest s...

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Use of RL Agent instead of PID
Here is an example that does exactly what you mentioned, i.e. replaces a PID controller with an RL Agent

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My agent finds a good solution but it does not repeat it and turns back to bad behavior again (Reinforcement Learning )
This picture shows progress for a very small number of episodes. You should wait for a few hundred episodes before you can evalu...

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Oscillating reward in DDPG using Matlab Reinforcement learning toolbox with simulink environment
I think I have mentioned this in another post as well, but you should not expect your episode reward to be monotonic. Once it "c...

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How to Use the Reinforcement Learning Toolbox to Draw Observations While Training？
You can use the information on plotting and visualization from this page to plot/visualize information during training

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Determine the reward value to stop training in RL agent
For some problems you may be able to calculate what the maximum reward that can be collected in an episode is, so you can use th...

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How to assign values to MV Targets of MPC object from cell array
You could specify values individually mpcobj.MV(1).Target=99; mpcobj.MV(2).Target=10; or you could do it in one line as follo...

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problem with MPC controller
It seems to me that the solution is to add a constraint on the rate of change of the manipulated variable Ic. That way you can a...

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How can I have 'measured states' in a MPC controller object in Simulink?
Model Predictive Control Toolbox includes built-in Kalman filters for the linear MPC API and blocks. So you really don't need to...

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Question about using the nonlinear model predictive control toolbox
nlmpcmove function uses fmincon from Optimization Toolbox. Pleaase take a look at this doc page for more details

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Adaptive MPC for LPV systems
This is possible with Model Predictive Control Toolbox yes, please take a look at this example.

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Is it possible to pass simulink NMPC parameters as struct?
Please take a look at my answer here

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Get nonlinear model from Simulink to Matlab
Hi Daniel, Unfortunately Model Predictive Control Toolbox does not currently support using a Simulink model directly as a predi...

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Binary Manipulated Variable in NLMPC
Unfortunately Model Predictive Control Toolbox does not currently support mixed-integer problems for NLMPC.

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