用matlab写一个适用于simulink的S模块的MPC控制器

以下是一个简单的MPC控制器的matlab代码，可以用于Simulink的S模块。

function [u, xhat] = mpc_controller(y, x0)

% Define MPC parameters
N = 10;     % Prediction horizon
Nu = 2;    % Control horizon
Q = diag([1 1]);   % State cost matrix
R = 1;    % Control cost matrix

% Define system matrices
A = [1 1; 0 1];
B = [0; 1];
C = [1 0];

% Define constraints
umin = -1;
umax = 1;

% Define initial state
xhat = x0;

% Define optimization variables and constraints
x = sdpvar(2, N+1);
u = sdpvar(1, N);
constraints = [];
objective = 0;
for k = 1:N
    constraints = [constraints, x(:,k+1) == A*x(:,k) + B*u(:,k)];
    constraints = [constraints, umin <= u(:,k) <= umax];
    objective = objective + x(:,k)'*Q*x(:,k) + u(:,k)'*R*u(:,k);
end
objective = objective + x(:,N+1)'*Q*x(:,N+1);

% Define MPC controller
ops = sdpsettings('solver','quadprog');
controller = optimizer(constraints, objective, ops, x(:,1), u(:,1));

% Compute control action
[u, ~, errorcode] = controller({y}, {xhat});
if errorcode ~= 0
    warning('MPC infeasible');
end

% Update state estimate
xhat = A*xhat + B*u(:,1);

end

在Simulink中，创建一个S函数模块，输入为当前状态y和初始状态x0，输出为控制信号u和更新后的状态xhat。将上述代码复制到S函数模块的编辑器中，并保存。然后在Simulink中使用该S函数模块，连接输入和输出信号，并设置模拟参数，即可进行仿真。