How do I pass an object as parameter in an NMPC block in Simulink?

Hello,

I want to set up three NMPC controller for three different plants. Each plant and corresponding controller are initalized in a class. This means that I would like to pass to the NMPC parameter input port an object, such that the prediction model, cost function ecc. have all access to the object porperties. Unfortuneatly doesn't seem to work. Does someone of you have an idea?

Best,

Marco

Answer 1

[Pratyush]

Hi Marco,

To set up NMPC controllers for different plants encapsulated within MATLAB classes, you can try these steps:

1) Create a class for each plant that includes properties (such as the plant's state) and methods (like the dynamics of the plant).

2) Within each plant's class, implement a method to configure the NMPC controller. This method will act as a bridge, allowing the NMPC to access the plant's properties and methods. Specifically, you'll need to:

- Define a wrapper function for the plant's dynamics that can be used as the NMPC's prediction model.

- Optionally, define a wrapper for the cost function if your NMPC uses a custom cost function.

3) Create an instance of each plant class and call the method to set up its NMPC controller.

This integrates object-oriented programming with MATLAB's NMPC framework, enabling each NMPC controller to interact with its respective plant object, accessing necessary properties and methods for prediction and cost computation.