mpcstate object type contains the state
of an MPC controller. Create the MPC state object using
mpcstate. Its properties are as follows.
Vector of state estimates for the controller’s plant model. Values are in engineering units and are absolute, i.e., they include state offsets.
If the controller’s
plant model includes delays, the
Vector of unmeasured disturbance model state estimates. This comprises the states of the input disturbance model followed by the states of the output disturbances model.
models may be created by default. Use the
Default: zero, or empty if there are no disturbance model states.
Vector of output measurement noise model state estimates.
Default: zero, or empty if there are no noise model states.
Vector of manipulated variables used in the previous control interval, u(k–1). Values are absolute, i.e., they include manipulated variable offsets.
Default: nominal values of the manipulated variables.
covariance matrix for the controller state estimates, where n is
the dimension of the extended controller state, i.e., the sum of the
number states contained in the
Default: If the
controller is employing default state estimation the default is the
steady-state covariance computed according to the assumptions in Controller State Estimation. See
also the description of the