Compute MPC closed-loop DC gain from output disturbances to measured outputs assuming constraints are inactive at steady state
cloff function computes the DC gain
from output disturbances to measured outputs, assuming constraints
are not active, based on the feedback connection between
the linearized MPC controller, as depicted below.
Computing the Effect of Output Disturbances
By superposition of effects, the gain is computed by zeroing references, measured disturbances, and unmeasured input disturbances.
DCgain=cloffset(MPCobj) returns an nym-by-nym DC
DCgain, where nym is
the number of measured plant outputs.
the MPC object specifying the controller for which the closed-loop
gain is calculated.
DCgain(i,j) represents the
gain from an additive (constant) disturbance on output
i. If row
all zeros, there will be no steady-state offset on output