Unmeasured output disturbance model
outdist = getoutdist(MPCobj)
[outdist,channels] = getoutdist(MPCobj)
outdist = getoutdist(MPCobj) returns the
output disturbance model,
outdist, used by the
model predictive controller object,
model, in combination with the input disturbance model (if any), governs
how well the controller compensates for unmeasured disturbances and
prediction errors. The output disturbance model:
Is a discrete-time, delay-free, state-space (
Has unit-variance white noise input signals. By default, the number of inputs depends upon the number of measured outputs and the need to maintain controller state observability. For custom output disturbance models, the number of inputs is your choice.
ny outputs, where
the number of plant outputs defined in
Each model output is added to the corresponding plant output.
Use this command to review the current default or custom output
disturbance model. You can override the controller default behavior
For details on the role of disturbance modeling in model predictive control and about the model used in the algorithm for state estimation, see Controller State Estimation.
[outdist,channels] = getoutdist(MPCobj) also
returns the output channels to which integrated white noise has been
added by default. If you specified a custom output disturbance model