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MPC State Object

The mpcstate object type contains the state of an MPC controller. Its properties are listed in MPC State Object Properties.

MPC State Object Properties

Property

Description

Plant

Array of plant states. Values are absolute, i.e., they include possible state offsets (cf.Model.Nominal.X).

Disturbance

Array of states of unmeasured disturbance models. This contains the states of the input disturbance model and, appended below, the states of the unmeasured output disturbances model.

Noise

Array of states of measurement noise model.

LastInput

Array of previous manipulated variables u(k-1). Values are absolute, i.e., they include possible input offsets (cf. Model.Nominal.U).

The command

mpcstate(mpcobj) 

returns a zero extended initial state compatible with the MPC object mpcobj, and with mpcobj.Plant and mpcobj.LastInput initialized at the nominal values specified in mpcobj.Model.Nominal.

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