Where W u = diag ( w 0, 1 u, w 0, 2 u. PredictionĪssume that the disturbance models described in Input Disturbance Model are unit gains that is, d( k) = Optimization problem described in Optimization Problem. This section describes the matrices associated with the model predictive control To include a bound constraint, you must specify a finite limit when you design lower and upper bounds for jth MV increment atĮxcept for the slack variable non-negativity condition, all of the above constraintsĪre optional and are inactive by default (i.e., initialized with infinite limiting lower and upper bounds for jth MV at ith Ith prediction horizon step, in engineering units. lower and upper bounds for jth plant output at S j u - Scale factor for jth MV, in engineering (dimensionless) used for constraint softening. An MPC controller uses the following scalar performance measure Outputs, the controller must keep selected manipulated variables (MVs) at or near In some applications, such as when there are more manipulated variables than plant At interval k, the controller state estimates and MD valuesĪre available. ( z k), measured disturbances (MD), and stateĮstimates. Which depend on manipulated variable adjustments The controller uses the state observer to predict the The controller receivesįor the entire prediction horizon. The values n y, p, s j y, and w i, j y are constant controller specifications. Ith prediction horizon step (dimensionless). W i, j y - Tuning weight for jth plant output at S j y - Scale factor for jth plant output, in Reference value for jth plant output at ith Prediction horizon step, in engineering units. Predicted value of jth plant output at ith If your browser is so outdated or unusual that the linked advice doesn't work, consider these ideas.Z k T =.You will need to install a UserScript loader first. You will see formatted as in a textbook if the MathJax UserScript is installed and working. Type this as an example (replace the [- with [ when typing): being a jerk (Jerks get banned.) Using LaTeX.image or video link-posts (Links to articles, Desmos, Wolfram|Alpha, and the like are fine.).one-sentence posts (Have some respect for people who take time to answer your question and follow the posting rules.).
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