Error while generating HDL code from Matlab: variable-size matrix type is not supported for HDL code generation.

While trying to generate verilog file using HDL Coder, I got the following error in the HDL Code Generation step.

My function “MPC_track” is to implement an MPC controller, the input and output of the function are both scalars or vectors, no matrices. I noticed that the problem could be in places like the following, where both the p_ni, j_ni and k_ni values are changed in the loop. I am very confused, because the size of the A_ni matrix is fixed, there should be no problem.

for p_ni = 1:N_ni-1
    % Find the pivot row for column p
    [~,j_ni] = max(abs(A_ni(p_ni:N_ni,p_ni)));
    % Interchange row p and j
    C_ni = A_ni(p_ni,:);
    A_ni(p_ni,:) = A_ni(j_ni+p_ni-1,:);
    A_ni(j_ni+p_ni-1,:) = C_ni;
    d_ni = R_ni(p_ni);
    R_ni(p_ni) = R_ni(j_ni+p_ni-1);
    R_ni(j_ni+p_ni-1) = d_ni;
%    if A(p,p)==0
%    'A is singular. No unique solution';
%        break
%    end
    % Calculate multiplier and place in subdiagonal portion of A
    for k_ni = p_ni+1:N_ni
        mult_ni = A_ni(k_ni,p_ni)/A_ni(p_ni,p_ni);
        A_ni(k_ni,p_ni) = mult_ni;
        A_ni(k_ni,p_ni+1:N_ni) = A_ni(k_ni,p_ni+1:N_ni) - mult_ni * A_ni(p_ni,p_ni+1:N_ni);
    end
end

I am new to the HDL coder, kindly help me resolve the issue, thanks!

I have uploaded the function file "MPC_track.m" and the test bench file "simulation.m" in the attachment.

Answer 1

[Yichuan Wang]

Could somebody help me handle this problem? Very Thanks.