Compute MPC closed-loop DC gain from output disturbances to measured outputs assuming constraints are inactive at steady state
The cloff function computes the DC gain from output disturbances to measured outputs, assuming constraints are not active, based on the feedback connection between Model.Plant and 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 gain matrix DCgain, where nym is the number of measured plant outputs. MPCobj is 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 j to measured output i. If row i contains all zeros, there will be no steady-state offset on output i.