Error in Truetime integration with MPC controller in 'highway lane following model'

I have found this error when I implemeting highway lane following model with truetime . the error states as "Variable-step model 'HighwayLaneFollowingTestBench' references (via Model block 'HighwayLaneFollowingTestBench/Lane Following Controller') fixed-step model 'LaneFollowingController', which contains blocks with continuous and discrete sample times. Referencing a fixed-step model that contains both discrete and continuous components from a variable-step model is not supported."

Any pathway how to solve this?

Answer 1

[Pratik]

Hi Ashiqur,

As per my understanding, you are implementing highway lane following model with truetime. But there is an error when trying to run the model.

Referencing a fixed-step model with discrete and continuous states from a variable-step model is not supported as stated by the error message. Therefore, this is a limitation of Simulink, and your best workaround option is to set the top-level model to use a fixed-step solver, with the time step equivalent to the smallest step the variable-step solver would have used.

I hope this helps.