MPC State Object :: Object Reference (Model Predictive Control Toolbox™)

MPC State Object

The mpcstate object type contains the state of an MPC controller. Its properties are listed in Table 9-12.

Table 9-12: MPC State Object Properties
Property
Description

Plant
Array of plant states. Values are absolute, i.e., they include possible state offsets (cf.Model.Nominal.X).

Disturbance
Array of states of unmeasured disturbance models. This contains the states of the input disturbance model and, appended below, the states of the unmeasured output disturbances model.

Noise
Array of states of measurement noise model.

LastInput
Array of previous manipulated variables u(k-1). Values are absolute, i.e., they include possible input offsets (cf. Model.Nominal.U).

**Table 9-12: MPC State Object Properties**
Property	Description
`Plant`	Array of plant states. Values are absolute, i.e., they include possible state offsets (cf.`Model.Nominal.X`).
`Disturbance`	Array of states of unmeasured disturbance models. This contains the states of the input disturbance model and, appended below, the states of the unmeasured output disturbances model.
`Noise`	Array of states of measurement noise model.
`LastInput`	Array of previous manipulated variables u(k-1). Values are absolute, i.e., they include possible input offsets (cf. `Model.Nominal.U`).

The command

```
mpcstate(mpcobj)
```

returns a zero extended initial state compatible with the MPC object mpcobj, and with mpcobj.Plant and mpcobj.LastInput initialized at the nominal values specified in mpcobj.Model.Nominal.

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MPC Simulation Options Object

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