Documentation

Model Predictive Control Toolbox Functions

Plant Specification

setmpcsignals Set signal types in MPC plant model
getname I/O signal names in MPC prediction model
setname Set I/O signal names in MPC prediction model

MPC Design

Controller Creation

mpc Create MPC controller
mpcprops Provide help on MPC controller's properties
mpctool Start Model Predictive Controller GUI
gpc2mpc Generate MPC controller using generalized predictive controller (GPC) settings

Refinement

get MPC property values
getconstraint Model Predictive Control custom constraint definitions
getEstimator Obtain Kalman gains and model for estimator design
getindist Unmeasured input disturbance model
getname I/O signal names in MPC prediction model
getoutdist Unmeasured output disturbance model
set Set or modify MPC object properties
setconstraint Custom constraints on plant inputs and outputs
setEstimator Modify a model predictive controller's state estimator
setindist Modify unmeasured input disturbance model
setname Set I/O signal names in MPC prediction model
setoutdist Modify unmeasured output disturbance model
setterminal Terminal weights and constraints

Analysis

review Examine MPC controller for design errors and stability problems at run-time
cloffset Compute MPC closed-loop DC gain from output disturbances to measured outputs assuming constraints are inactive at steady state
compare Compare two MPC objects
sensitivity Compute effect of controller tuning weights on performance
size Size and order of MPC Controller
trim Compute steady-state value of MPC controller state for given inputs and outputs
d2d Change MPC controller's sampling time
ss Convert unconstrained MPC controller to state-space linear system
tf Convert unconstrained MPC controller to linear transfer function
zpk Convert unconstrained MPC controller to zero/pole/gain form

Simulation

mpcmove Optimal control action
mpcmoveopt Options set for mpcmove and mpcmoveAdaptive
mpcstate Define MPC controller state
sim Simulate closed-loop/open-loop response to arbitrary reference and disturbance signals for implicit or explicit MPC
mpcsimopt MPC simulation options
plot Plot responses generated by MPC simulations

Adaptive MPC Design

mpcmoveAdaptive Compute optimal control with prediction model updating
mpcmoveopt Options set for mpcmove and mpcmoveAdaptive
mpcstate Define MPC controller state

Explicit MPC Design

generateExplicitMPC Convert implicit MPC controller to explicit MPC controller
generateExplicitRange Bounds on explicit MPC control law parameters
generateExplicitOptions Optimization options for explicit MPC generation
simplify Reduce explicit MPC controller complexity and memory requirements
plotSection Visualize explicit MPC control law as 2-D sectional plot
generatePlotParameters Parameters for plotSection
mpcmoveExplicit Compute optimal control using explicit MPC
mpcmoveopt Options set for mpcmove and mpcmoveAdaptive
mpcstate Define MPC controller state
sim Simulate closed-loop/open-loop response to arbitrary reference and disturbance signals for implicit or explicit MPC
mpcsimopt MPC simulation options

Gain-Scheduled MPC Design

mpcmoveMultiple Compute gain-scheduling MPC control action at a single time instant
mpcmoveopt Options set for mpcmove and mpcmoveAdaptive
mpcstate Define MPC controller state

Code Generation

review Examine MPC controller for design errors and stability problems at run-time
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