%%%%% Typical data entry required for a
%%%%% SISO state space example
%%%%% x(k+1) = A x(k) + B u(k)
%%%%% y(k) = C x(k) + D u(k) + dist Note: Assumes D=0
%%%%%
%%%%% Assumes J = sum (r-y)^2 + (u(k+i-1)-uss) R (u(k+i-1)-uss)
%%%%% uss the steady state input
%%%%%
%%%%% Illustrates closed-loop simulations with constraint handling
%%%%%
%%%%%
%%%%% THIS IS A SCRIPT FILE. CREATES ITS OWN DATA AS REQUIRED
%%%%% EDIT THIS FILE TO ENTER YOUR OWN MODELS, ETC.
%%
%% Author: J.A. Rossiter (email: J.A.Rossiter@shef.ac.uk)
%%% Model
A=[1.4000 -0.1050 -0.1080; 2 0 0; 0 1 0];
B =[2; 0; 0]/10;
C =[ 0.5000 0.7500 0.5000]*10;
D=0;
%%% Constraints
umax=.04;
umin=-.04;
Dumax=.03;
%%% Tuning parameters
R=10;
ny=15; %% Prediction horizon
nu=3; %% Control horizon
x0=[1;1;0]*0; %% Initial condition
ref = [zeros(1,20),[1*ones(1,60)]]; %%% Set point
dist = [zeros(1,35),-ones(1,45)*.5]; %%% disturbance
noise = [zeros(1,50),randn(1,30)*.04]; %%% noise
%%%%% Closed-loop simulation
[x,y,u,r] = imgpc_simulate(A,B,C,D,R,ny,nu,umax,umin,Dumax,x0,ref,dist,noise);
