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Kalman Gain: Error 41653 in Control Design and Simulation: Number of Rows in G does not equal the number of states in the system model

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I have the following Problem while starting the VI Kalman Gain:

 

"Error -41653 occurred at NI_CD_Stochastic Systems.lvlib:cd_verify G and H.vi
Possible reason(s):

Control Design and Simulation:  The number of rows in G does not equal the number of states in the system model.

Complete call chain:
     NI_CD_Stochastic Systems.lvlib:cd_verify G and H.vi
     NI_CD_Stochastic Systems.lvlib:CD Convert Deterministic to Stochastic Model.vi
     NI_CD_State Feedback Control.lvlib:cd_Kalman Gain (Deterministic).vi
     State_Space_4_4.vi"

 

I have created the state space with the "CD Construct State-Space Model VI". The matrices for the input of this VI have the following structures:

A 78x78

B 78x2

C 1x78

D 1x2

Beside the state space wire, the "Kalman Gain VI" is connected to the matrix Q with a size of 1x1 and R with a size of 1x1. The Klaman Gain VI also needs the input G which is also of a 1x1 structure.

From my mind it is neccessary that G and Q have to be from the same dimension. So how can i fix that error?

 

Unbenannt.jpg

 

 


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