Predict identified model K-step-ahead output
predict command computes the K-step-ahead output of
an identified model using measured input-output data. To identify the model, you first
collect all the input-output data and then estimate the model parameters offline. To
perform online state estimation of a nonlinear system using real-time data, use the
predict command for extended and unscented
Kalman filters instead.
the output of an identified model
yp = predict(
ahead using the measured input-output data.
predict command predicts the output response
over the time span of measured data. In contrast,
forecast performs prediction into the
future in a time range beyond the last instant of measured data. Use
sys over the time span of measured data.
data can be a timetable, a comma-separated input/output
matrix pair, or an
plots the predicted output. Use with any of the previous input argument
combinations. To change display options in the plot, right-click the plot to
access the context menu. For more details about the menu, see Tips.
You can also plot the predicted model response using the
compare command. The
compares the prediction results with observed data and displays a
quantitative goodness of fit.
Predict Time Series Model Response
Simulate time-series data.
init_sys = idpoly([1 -0.99],,[1 -1 0.2]); opt = simOptions('AddNoise',true); u = iddata(,zeros(400,0),1); data = sim(init_sys,u,opt);
data is an
iddata object containing the simulated response data of a time series model.
Estimate an ARMAX model by using
data as estimation data.
na = 1; nb = 2; sys = armax(data(1:200),[na nb]);
Predict the output of the model using a prediction horizon of 4.
K = 4; yp = predict(sys,data,K);
yp is an
iddata object. The predicted output is returned in the
OutputData property of the object.
Compare the predicted and estimated data outputs.
plot(data(201:400),yp(201:400)); legend('Estimation data','Predicted data');
Alternatively, to plot the predicted response and estimation data, use
Plot Predicted Output for Multiple Models
Load the estimation data.
load sdata1 tt1; data = tt1;
Estimate an ARX model of order [2 2 1].
sys1 = arx(data,[2 2 1]);
Estimate a transfer function with 2 poles.
sys2 = tfest(data,2);
predict option set to specify zero initial conditions for prediction.
opt = predictOptions('InitialCondition','z');
Plot the predicted outputs for the estimated models. Use the specified prediction option set,
opt, and specify prediction horizon as 10. Specify line styles for plotting the predicted output of each system.
To change the display options, right-click the plot to access the context menu. For example, to view the estimation data, select Show Validation Data from the context menu. To view the prediction error, select Prediction Error Plot.
You can also plot the predicted response using the
compare command. To do so, first create an option set for
compare to specify the use of zero initial conditions.
opt = compareOptions('InitialCondition','z'); compare(data,sys1,'r--',sys2,'b',10,opt);
Reproduce Prediction Results by Simulation
Use estimation data to estimate a model, and then compute the predicted model output and predictor model using the
predict command. Simulate the predictor model to reproduce the predicted output.
Load estimation data.
load sdata3 umat3 ymat3 Ts
Estimate a polynomial model from the data.
sys = polyest(umat3,ymat3,[2 2 2 0 0 1]);
Predict the system response using prediction horizon 4.
K = 4; [yp,ic,sysp] = predict(sys,umat3,ymat3,K);
yp is the predicted model response,
ic contains the estimated initial conditions, and
sysp is the predictor model.
Simulate the predictor model with inputs
[data.OutputData,data.InputData] and initial conditions
opt = simOptions; opt.InitialCondition = ic; ys = sim(sysp,[ymat3,umat3],opt);
Plot the predicted and simulated outputs.
ns = size(ys,1); t = [1:Ts:ns]'; plot(t,yp,'b',t,ys,'.r'); legend('Predicted Output','Simulated Output')
Predict Model Using Initial Conditions Obtained During Estimation
Incorporate initial conditions that you obtained previously into your model prediction.
Load the data.
load iddata1ic z1i
Specify the ARMAX estimation option to estimate the initial state.
estimOpt = armaxOptions('InitialCondition','estimate');
Estimate an ARMAX model and return an
ic that encapsulates the initial conditions in state-space form.
na = 2; nb = 2; nc = 2; nk = 1; [sys,ic] = armax(z1i,[na nb nc nk],estimOpt);
Specify the initial conditions for prediction.
predictOpt = predictOptions('InitialCondition',ic);
Predict the model and obtain the model response. Plot the response
y with the measured data.
y = predict(sys,z1i,predictOpt); plot(z1i,y) legend('Measured Data','Predicted Response')
The measured and predicted responses show good agreement at the start of the prediction.
Understand Use of Historical Data for Model Prediction
Perform model prediction using historical data to specify initial conditions. You first predict using the
predict command and specify the historical data using the
predictOptions option set. You then reproduce the predicted response by manually mapping the historical data to initial states.
Load a two-input, one-output dataset.
load iddata7 z7
Identify a fifth-order state-space model using the data.
sys = n4sid(z7,5);
Split the dataset into two parts.
zA = z7(1:15); zB = z7(16:end);
Suppose that you want to compute the 10-step-ahead prediction of the response of the identified system for data
zB. For initial conditions, use the signal values in
zA as the historical record. That is, the input and output values for the time immediately preceding data in
IO = struct('Input',zA.InputData,'Output',zA.OutputData); opt = predictOptions('InitialCondition',IO);
Generate the 10-step-ahead prediction for data
zB using the specified initial conditions and
[yp,x0,Predictor] = predict(sys,zB,10,opt);
yp is the predicted model response,
x0 are the initial states corresponding to the predictor model
Predictor. You can simulate
x0 as initial conditions to reproduce
Now reproduce the output by manually mapping the historical data to initial states. To do so, minimize 1-step prediction errors over the time span of
x0est = data2state(sys,zA);
x0est contains the values of the five states of
sys at the time instant immediately after the most recent data sample in
Predictor has more states than the original system due to the 10-step prediction horizon. Specify the additional states induced by the horizon to zero initial values, and then append
x0Predictor = zeros(order(Predictor),1); x0Predictor(end-4:end) = x0est;
Simulate the predictor using
[zB.OutputData,zB.InputData] as the input signal and
x0Predictor as initial conditions.
uData = [zB.OutputData,zB.InputData]; % signals required for prediction [ysim,t,xsim] = lsim(Predictor,uData,,x0Predictor);
Plot the predicted output of the
yp.OutputData and the manually computed results
ysim is the same as
sys — Identified model
linear model | nonlinear model
Identified model whose output is to be predicted, specified as one of the following:
If a model is unavailable, estimate
commands such as
data — Measured input/output data
timetable | numeric matrix pair |
Measured uniformly sampled input/output data, specified as a
timetable, a comma-separated pair of numeric
input/output matrices, or an
iddata object. The
data depends on the data type.
data as a
timetable that uses a
regularly spaced time vector. containing variables that represent input
and output channels.
Comma-Separated Matrix Pair
data as a comma-separated pair of
matrices that contain the input and output time-domain signal values
u,y. Specify the input matrix
with the dimensions Ns-by-Nu and
the output matrix with the dimensions
Nu is the number of inputs, Ny
is the number of outputs, and Ns is the number of
For time-series data, specify
Use matrix-based data only for discrete-time models.
Specify data as an
iddata object that contains the
input and output data. For time-series data (no inputs), specify
data as an
with no inputs.
For more information about working with estimation data types, see Data Domains and Data Types in System Identification Toolbox.
K — Prediction horizon
1 (default) | positive integer |
Prediction horizon, specified as one of the following:
Positive integer — Output
Ksteps into the future, where
Krepresents a multiple of
The output at time instant
tis calculated using previously measured outputs up to time
t-Kand inputs up to the time instant
Inf— No previous outputs are used in the computation, and
predictreturns the same result as simulation using the
For Output-Error models, there is no difference between the
predictions and the simulated output. This is because Output-Error
models only use past inputs to predict future outputs.
For careful model validation, a one-step-ahead prediction (
= 1) is usually not a good test for validating the model
the time span of measured data. Even the trivial one step-ahead predictor, , can give good predictions.
So a poor model may look fine for one-step-ahead prediction of data
that has a small sample time. Prediction with
K = Inf,
which is the same as performing simulation with
can lead to diverging outputs because low-frequency disturbances in
the data are emphasized, especially for models with integration. Use
K value between
capture the mid-frequency behavior of the measured data.
opt — Prediction options
predictOptions option set
Prediction options, specified as a
set. Use the option set to specify prediction options such as handling
of initial conditions and data offsets.
yp — Predicted output response
timetable | numeric matrix pair |
Predicted output response, returned in the same form as
data is an
iddata object, the
OutputData property of
the values of the predicted output. The time variable takes values in the
range represented by
The output at time instant
t is calculated
using previously measured outputs up to time
inputs up to the time instant
t. In other words,
the predicted response at time point
r of measured
data is stored in the
r+K-1 sample of
Note that at time
r, the future inputs
for prediction are assumed to be known. For multi-experiment data,
a predicted data set for each experiment. The time span of the predicted
outputs matches that of the observed data.
sys is specified using an
the same as the simulated response computed using
ic — Estimated initial conditions
column vector |
initialCondition object | cell array
Estimated initial conditions corresponding to the predictor model
sys_pred, returned as a column vector, an
initialCondition object, or a cell array.
sysis a linear transfer function or polynomial model, then
initialConditionobject encapsulates the free response of
sys, in state-space form, with the corresponding initial state vector.
sysis any other type of linear or nonlinear dynamic model, then
icis an initial state vector, returned as a column vector of size equal to the number of states.
datacontains multiexperiment data, then
icis a cell array of size Ne, where Ne is the number of experiments.
To reproduce prediction results, you can simulate
ic as the
initial conditions. For an example, see Reproduce Prediction Results by Simulation.
sys is an
ic is returned empty.
sys_pred — Predictor model
dynamic system model | array of models
Predictor model, returned as a dynamic system model. For multi-experiment data,
sys_pred is an array of models, with one entry for
each experiment. You can use the predictor model
sys_pred and estimated initial conditions
ic to reproduce the results of prediction:
sysis a linear model, the predictor model is returned as either a model of the same type as
sysor as a state-space version of the model (
idss). To reproduce the results of prediction, simulate
[data.OutputData data.InputData]as the input and
icas the initial conditions. The simulation output is the same as the predicted output
yp.OutputData. For an example, see Reproduce Prediction Results by Simulation.
sysis a nonlinear grey-box model (
idnlgrey) or Hammerstein-Wiener model (
idnlhw), the noise-component of the model is trivial, and so the predictor model is the same as the model.
sys_predis returned empty. To reproduce the results of prediction, simulate
sysusing initial conditions
ic. For a definition of the states of
idnlhwmodels, see Definition of idnlhw States.
sysis a nonlinear ARX model (
icare returned empty. You cannot reproduce the prediction results by simulation.
For discrete-time data that is time-domain or frequency-domain
data with sample time
Ts greater than zero,
a discrete-time model, even if
sys is a continuous-time
Right-clicking the plot of the predicted output opens the context menu, where you can access the following options:
Systems — Select systems to view predicted response. By default, the response of all systems is plotted.
Data Experiment — For multi-experiment data only. Toggle between data from different experiments.
Characteristics — View the following data characteristics:
Peak Value — View the absolute peak value of the data. Applicable for time–domain data only.
Peak Response — View peak response of the data. Applicable for frequency-response data only.
Mean Value — View mean value of the data. Applicable for time–domain data only.
Show — For frequency-domain and frequency-response data only.
Magnitude — View magnitude of frequency response of the system.
Phase — View phase of frequency response of the system.
Show Validation Data — Plot data used to predict the model response.
I/O Grouping — For datasets containing more than one input or output channel. Select grouping of input and output channels on the plot.
None — Plot input-output channels in their own separate axes.
All — Group all input channels together and all output channels together.
I/O Selector — For datasets containing more than one input or output channel. Select a subset of the input and output channels to plot. By default, all output channels are plotted.
Grid — Add grids to the plot.
Normalize — Normalize the y-scale of all data in the plot.
Full View — Return to full view. By default, the plot is scaled to full view.
Prediction Horizon — Set the prediction horizon, or choose simulation.
Initial Condition — Specify handling of initial conditions. Not applicable for frequency-response data.
Specify as one of the following:
Estimate — Treat the initial conditions as estimation parameters.
Zero — Set all initial conditions to zero.
Absorb delays and estimate — Absorb nonzero delays into the model coefficients and treat the initial conditions as estimation parameters. Use this option for discrete-time models only.
Predicted Response Plot — Plot the predicted model response. By default, the response plot is shown.
Prediction Error Plot — Plot the error between the model response and prediction data.
Properties — Open the Property Editor dialog box to customize plot attributes.
Version HistoryIntroduced before R2006a
R2022b: Time-domain estimation data is accepted in the form of timetables and matrices
Most estimation, validation, analysis, and utility functions now accept time-domain
input/output data in the form of a single timetable that contains both input and output data
or a pair of matrices that contain the input and output data separately. These functions
continue to accept
iddata objects as a data source as well, for
both time-domain and frequency-domain data.