MPC Simulation Options Object :: Object Reference (Model Predictive Control Toolbox™)

MPC Simulation Options Object

The mpcsimopt object type contains various simulation options for simulating an MPC controller with the command sim. Its properties are listed in Table 9-11.

Table 9-11: MPC Simulation Options Properties
Property
Description

PlantInitialState
Initial state vector of the plant model generating the data.

ControllerInitialState
Initial condition of the MPC controller. This must be a valid @mpcstate object.

UnmeasuredDisturbance
Unmeasured disturbance signal entering the plant.

InputNoise
Noise on manipulated variables.

OutputNoise
Noise on measured outputs.

RefLookAhead
Preview on reference signal ('on' or 'off').

MDLookAhead
Preview on measured disturbance signal ('on' or 'off').

Constraints
Use MPC constraints ('on' or 'off').

Model
Model used in simulation for generating the data.

StatusBar
Display the wait bar ('on' or 'off').

MVSignal
Sequence of manipulated variables (with offsets) for open-loop simulation (no MPC action).

OpenLoop
Perform open-loop simulation.

**Table 9-11: MPC Simulation Options Properties**
Property	Description
`PlantInitialState`	Initial state vector of the plant model generating the data.
`ControllerInitialState`	Initial condition of the MPC controller. This must be a valid `@mpcstate` object.
`UnmeasuredDisturbance`	Unmeasured disturbance signal entering the plant.
`InputNoise`	Noise on manipulated variables.
`OutputNoise`	Noise on measured outputs.
`RefLookAhead`	Preview on reference signal (`'on'` or `'off'`).
`MDLookAhead`	Preview on measured disturbance signal (`'on'` or `'off'`).
`Constraints`	Use MPC constraints (`'on'` or `'off'`).
`Model`	Model used in simulation for generating the data.
`StatusBar`	Display the wait bar (`'on'` or `'off'`).
`MVSignal`	Sequence of manipulated variables (with offsets) for open-loop simulation (no MPC action).
`OpenLoop`	Perform open-loop simulation.

The command

```
SimOptions=mpcsimopt(mpcobj)
```

returns an empty @mpcsimopt object. You must use set / get to change simulation options.

UnmeasuredDisturbance is an array with as many columns as unmeasured disturbances, InputNoise and MVSignal are arrays with as many columns as manipulated variables, OutputNoise is an array with as many columns as measured outputs. The last sample of the array is extended constantly over the horizon to obtain the correct size.

Note Nonzero values of ControllerInitialState.LastMove are only meaningful if there are constraints on the increments of the manipulated variables.

The property Model is useful for simulating the MPC controller under model mismatch. The LTI object specified in Model can be either a replacement for Model.Plant, or a structure with fields Plant, Nominal. By default, Model is equal to MPCobj.Model (no model mismatch). If Model is specified, then PlantInitialState refers to the initial state of Model.Plant and is defaulted to Model.Nominal.x.

If Model.Nominal is empty, Model.Nominal.U and Model.Nominal.Y are inherited from MPCobj.Model.Nominal. Model.Nominal.X/DX is only inherited if both plants are state-space objects with the same state dimension.

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MPC Controller Object MPC State Object

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