These are the files for Chapter 4 for the book " Practical Design and Application of Model Predictive Control" by Elsevier (eBook ISBN: 9780128139196, Paperback ISBN: 9780128139189).
This chapter guides the user through the process of designing a linear MPC controller for a ship. The turning rate and ship speed are controlled using the rudder and propeller. These actuators operate under physical constraints.
The Simulink model, Chapter_5_Model_and_Reference.slx, for the ship and the reference for the controller can be found in Chapter 5/Section_3
The linear model for the ship, Chapter_5_Section_6_Linear_Model.mat, can be found in Chapter_5\Section_6.
The session for the designed MPC controller can be found in Chapter_5\Section_6. Load MPCDesignTask_Chapter_5_Section_6.mat and open with MPC toolbox.
To check the tracking performance of the MPC controller, run Chapter_5_Section_7_Model_and_Controller.slx which can be found in Chapter_5\Section_7. Once the simulation is concluded, run Chapter_5_Section_7_Script.m to plot results and display performance of the controller against requirements.
Chapter_5\Section_8 contains the solution for the application problem in the book. Run Chapter_5_Section_8_Model_and_Controller.slx. Once the simulation is concluded, run Chapter_5_Section_8_Script.m to plot results and display performance of the controller against requirements.
Nassim Khaled (2020). Single MPC Design of a Ship- Chapter 5 (https://www.mathworks.com/matlabcentral/fileexchange/67827-single-mpc-design-of-a-ship-chapter-5), MATLAB Central File Exchange. Retrieved .
We replaced the DSP block with an m. function.