Linear Model Predictive Control with state feedback

I want to implement a linear Model Predictive Control that takes the measured states as feedback. Unfortunately, the default implementation of the MATLAB MPC block receives the measured plant output as feedback.

To overcome this problem, I enabled the "Use custom state estimation instead of using the built-in Kalman filter" controller input port. This solution provides state feedback but shifts the problem to the need to also provide disturbance estimation. Therefore, it is not possible to simulate an ideal disturbance-free plant.

I would like to ask if there is a straightforward way to design a linear MPC control with state feedback, or to set the number of disturbances equal to zero and exploit the custom state estimation port.

Answer 1

[Emmanouil Tzorakoleftherakis]

The most straightforward way would be to assume that all your states are outputs, so set the C to be the identity matrix.