Model Predictive Control Toolbox™

Define MPC controller state

Syntax

• xmpc=mpcstate(MPCobj,xp,xd,xn,u)
  xmpc=mpcstate(MPCobj)
  

Description

xmpc=mpcstate(MPCobj,xp,xd,xn,u) defines an mpcstate object for state estimation and optimization in an MPC control algorithm based on the MPC object MPCobj. The state of an MPC controller contains the estimates of the states x(k), x_d(k), x_m(k), where x(k) is the state of the plant model, x_d(k) is the overall state of the input and output disturbance model, x_m(k) is the state of the measurement noise model, and the value of the last vector u(k-1) of manipulated variables. The overall state is updated from the measured output ym(k) by a linear state observer (see State Observer).

xmpc=mpcstate(MPCobj) returns a default extended initial state that is compatible with the MPC controller MPCobj. Such a default state has plant state and previous input initialized at nominal values, and the states of the disturbance and noise models at zero.

Note that mpcstate objects are updated by mpcmove through the internal state observer based on the extended prediction model.

See Also

getoutdist, setoutdist, setindist, getestim, setestim, ss, mpcmove

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