I am using OQSP solver to implement an MPC controller for an LTI system. My system has a measured disturbance that influences the system’s states.
How can I consider this disturbance in computing the control signal? I tried, first, ignoring the disturbance and including it in the states update step. Second, I modified the l = [leq; lineq];. Both ways did not work!
Note that it works fine in the Matlab MPC toolbox. Any ideas on how to include the disturbance? For which further assistance is requested.