Stochastic kalman gain error 41653 [Control and Simulation Module]

[Lexicondi]

Hi there,

A strange problem indeed. Trying to implement a asimple LQG controller for a robot based on an adaptation of the "CDEx LQG with Linear Simulation" example in

                                            C:\Program Files (x86)\National Instruments\LabVIEW 2015\examples\Control and Simulation\Control Design\State-Space Synthesis .

Everytime I run the program (Recursive Model&Adaptive Control 2.vi) , I get the error

                                             NI_CD_Stochastic Systems.lvlib:cd_verify m Q R N.vi<append>
                                            <b>Complete call chain:</b>
                                            NI_CD_Stochastic Systems.lvlib:cd_verify m Q R N.vi
                                           NI_CD_Stochastic Systems.lvlib:CD Verify Noise Model.vi
                                            NI_CD_Stochastic Systems.lvlib:CD Construct Noise Model (Numeric).vi

I modified the program by removing the compensator and using the estimate of the discrete Kalman filter in generating a control law by premultiplying xhat(k|k) with LQR gain. Got same error.

My vi is attached for reference. Will appreciate any help. 

[Barp]

Duplicate post:

http://forums.ni.com/t5/LabVIEW/Kalman-Gain-Error-41653-in-Control-Design-and-Simulation-Number/m-p/...

Lets keep the discussion in one place. 🙂