Extended Kalman Filter state transition parameters

As a follow up to this question, I am wondering how to correctly input a vector of additional parameters to an EKF block.

The state transition function is a wrapper of the state function used for a NLMPC.

Similar to the following example: Swing-Up Control of a Pendulum. My state function works using additional parameters like the "Ts" used in the example. In my case, however, the additional parameters are some signals U from my plant plus 37 predefined parameters in the base workspace.

This parameters are given as a vector "p".

For now I have tried using a mux:

The simulation fails during compilation with the following error:

The function used as a wrapper looks as follows:

function xk1 = stateFcnEKF_mixBufRd_wrapper(xk, u)

% Wrapper function for the State function used by the Extended Kalman Filter block.
%
%
%           u = [signal1 signal2 signal3 signal4 p] 
%
% Outputs:
%           xk1: Updated state values based on xk and uk

uk = [u(1) u(2) u(3) u(4)];
p = u(5);  % <----- vector of 37 parameters defined in base workspace


xk1 = stateFcnDT0_mixBufRd(xk, uk, p);  % <----- function used in NLMPC

Any ideas how the configuration of blocks should look like?

I have tried using IC and signal description blocks but I am not sure of the correct input definition.

Answer 1

[Eduardo]

The mux block works just fine, my error was taking p was the fifth input, instead it should have been defined as:

p(5:end)

Answer 2

[Emmanouil Tzorakoleftherakis]

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