Auto Tune In Mpc Mpcstudio
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- Auto Tune In Mpc Mpc Studio Software
- Auto Tune In Mpc Mpc Studio Software
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This example shows how to vary the weights on outputs, inputs, and ECR slack variable for soft constraints in real-time.
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The weights specified in the MPC object are overridden by the weights supplied to the MPC Controller block. If a weight signal is not connected to the MPC Controller block, then the corresponding weight is the one specified in the MPC object.
Define Plant Model
Define a multivariable discrete-time linear system with no direct I/O feedthrough, and assume input #4 is a measured disturbance and output #4 is unmeasured.
Design MPC Controller
Specify input and output signal types.
Specify MV constraints.
Simulate Using Simulink®
To run this example, Simulink® is required.
Define measured disturbance.
OV weights are linearly increasing with time, except for output #2 that is not weighted.
Auto Tune In Mpc Mpc Studio Software
MVRate weights are decreasing linearly with time.
ECR weight increases exponentially with time.
Start simulation.
Simulate Using MPCMOVE Command
Define real plant and MPC state object.
Store the closed-loop MPC trajectories in arrays YY,UU,XX.
Use MPCMOVEOPT object to provide weights at run-time.
Start simulation.
Auto Tune In Mpc Mpc Studio Software
Plot and Compare Simulation Results
Simulation results are the same.