02 -
(C)$2018$A.$Bemporad$-$“Model$Predictive$Control”$course
5
Models = tf; ct = 1;
for t = 0:0.1:10
Models(:,:,ct) = tf([5 5+2*cos(2.5*t)],[1 3 2 6+sin(5*t)]);
ct = ct + 1;
end
Ts = 0.1; % sampling time
Models = ss(c2d(Models,Ts));
• Design$MPC$controller
sys = ss(c2d(tf([5 5],[1 3 2 6]),Ts)); % average model time
p = 3; % prediction horizon
m = 3; % control horizon
mpcobj = mpc(sys,Ts,p,m);
mpcobj.MV = struct('Min',-2,'Max',2); % input constraints
mpcobj.Weights = struct('MV',0,'MVRate',0.01,'Output',1);
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