Multiple MPC Controllers
Purpose
Simulate switching between multiple MPC controllers
Library
MPC Simulink Library
Description
The Multiple MPC Controllers block receives the current measured output, reference signal, and measured disturbance signal, and solves a quadratic program to calculate the optimal manipulated variables. It also receives a switching signal that designates which of two or more controllers is to perform the calculation. The block contains these controllers as MPC objects, each of which is designed for a particular operating region of a nonlinear plant.
Dialog Box
- MPC Object List
- The table is an ordered list of MPC objects. The first row designates the controller to be used when the switch input equals one, the second designates the controller to be used when the switch input equals two, and so on. These must refer to objects that already exist in your base workspace.
| Note
After entering each MPC object name, type Enter. Also type Enter after editing an object name.
|
Use the Add and Delete buttons to add and remove rows. When deleting, indicate the row(s) to delete using the Delete It checkbox.
When the edit box is empty and the block is connected to the plant, clicking the Design button constructs a default MPC controller by obtaining a linearized plant model from the Simulink diagram. It also opens the design tool so you can modify the default behavior.
You can also start the design tool by selecting one or more MPC objects using the Design It checkbox, and then clicking the Design button. All selected MPC objects will be loaded into the design tool where you can review and edit their properties.
- Initial controller state
- Initial state of each MPC object in the ordered list. Each must be a valid mpcstate object. If none is supplied, the default is a steady-state initial condition.
- Reference signal
- If you select the check box, the edit box to the right must contain the name of a variable in your workspace that defines the reference signal. This also enables the Look Ahead check box. Selecting the Look Ahead check box anticipates reference variations and usually improves reference tracking (see Look Ahead and Signals from the Workspace). If you do not select the Reference signal check box, the signal connected to the block ref inport supplies the reference values.
- Measured disturbance
- Provides options for the measured disturbances (for feedforward compensation) in the same way as for the reference signals, above. If you don't supply the measured disturbance here, the signal connected to the block's md inport supplies the measured disturbance values.
- Enable input port for measured disturbance
- This option adds an inport (labeled md) to which you can connect measured disturbances and for which the controller will provide feedforward compensation.
- Enable input port for externally supplied manipulated variables to plant
- This check box lets you switch between MPC control and another type of control (e.g., manual control) during a simulation. It adds an inport (labeled ext.mv) to which you can connect the actual manipulated variables the plant is receiving. See Enable input port for externally supplied manipulated variables to plant.
- Enable input port for input and output limits
- This check box adds inports to which you can connect time-varying constraint specifications. Otherwise, the block uses the constant constraint values stored within its MPC object.
- When you enable this option, the block interprets an unconnected limit inport, such as ymin in the example below, as an unconstrained variable. Also, to prevent numerical difficulties the block enforces a minimum separation of 1e-5 between lower and upper bounds. Further, if a signal connected to a lower-bound port exceeds that connected to the corresponding upper-bound port, the block automatically uses the smaller signal as the lower bound and vice versa.
- See Enable input port for input and output limits for more details.
See Also
mpc, mpcmove, mpcstate
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