Simulink MPC Controller Constraints

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I am designing an MPC controller in Simulink, the plant has 3 manipulated inputs and 2 controlled variables.
The plant also has 4 additional measured variables which I would like to use as constraints. My question is, how do I make the measured constraints available to the MPC controller? Do I need to make them controlled variables and give them a nominal reference?

Accepted Answer

Emmanouil Tzorakoleftherakis
Hi James,
By "controlled variables" I am assuming you are referring to measured outputs. I believe that with linear MPC you can only specify constraints on measured outputs, so the 4 additional variables you mentioned should be converted to measured outputs.
With nonlinear MPC you can set constraints to both outputs and states.
  1 Comment
James Hughes
James Hughes on 22 Apr 2020
Thank you very much for your clear answer

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