MPC控制器状态
这mpcstate
对象表示隐式或显式MPC控制器的状态。使用mpcstate
目的to initialize the controller object before simulation.
这controller state includes the:
States of the plant, disturbance, and noise models of the controller.
Manipulated variables used in the previous control interval.
State covariance matrix for the controller.
mpcstate
在模拟使用对象被更新ternal state observer based on the extended prediction model. The overall state is updated from the measured outputym((k)by a linear state observer. For mode information, seeController State Estimation。
creates a controller state object for the implicit or explicit MPC controllerX
= mpcstate(mpcobj
)mpcobj
,将状态对象属性设置为其默认值。
sets theproperties指定非默认值的状态对象。要使用给定属性的默认值,请将相应的输入参数设置为X
= mpcstate(mpcobj
,,,,植物
,,,,骚乱
,,,,noise
,,,,LastMove
,,,,covariance
)[]
。
mpcmove |
计算最佳控制动作和更新控制器状态 |
mpcmoveadaptive |
Compute optimal control with prediction model updating |
mpcmoveMultiple |
在一次瞬间计算增益制定的MPC控制动作 |
mpcmoveExplicit |
使用显式MPC计算最佳控制 |