You can create an MPC controller with a linear plant model using the MPC Designer app or at the command line. To design a controller, first select the controller sample time and horizons, and specify any required constraints. For more information, see Choose Sample Time and Horizons and Specify Constraints. You can then adjust the controller weights to achieve your desired performance, see Tune Weights for more information.
|MPC Designer||Design and simulate model predictive controllers|
Choose your MPC controller sample time, prediction horizon, and control horizon early in your design, and hold them constant as you tune other controller parameters.
You can specify upper and lower bounds for the values of plant outputs and manipulated variables, and also for the rate of change of manipulated variables.
When designing an MPC controller, it is good practice to define scale factors for each plant input and output, especially when variables have large differences in magnitude.
To tune your MPC controller performance, adjust the cost function penalty weights for plant outputs and manipulated variables, and also for the rate of change of manipulated variables.
To design an MPC controller at an equilibrium point with nonzero operating conditions, you can specify the corresponding nominal conditions in the controller object.
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