Restore only on pdb from rman backup on another server without access to recovery catalog

I want to restore  a cdb with  only one pdb (instead of all pdb) from a full rman backup on another server without access to the recovery catalog

I'm able to restore all pdb  with this command:

duplicate database to 'tempcdb'

noopen backup location '/coldbackup';

But when I specify the only pdb with this command:

duplicate target database to 'tempcdb'

pluggable database pdb1

noopen backup location'/coldbackup';

I receive the message:

RMAN-00571: ===========================================================
RMAN-00569: =============== ERROR MESSAGE STACK FOLLOWS ===============
RMAN-00571: ===========================================================
RMAN-03002: failure of Duplicate Db command at 06/01/2017 12:09:02
RMAN-05501: aborting duplication of target database
RMAN-05521: DUPLICATE without CATALOG and TARGET not open requires that UNDO TABLESPACE is specified