function?[sysx0strts]?=?mpcsfunc（tzyflagABCDPMQRTs）

%sfunction?for?mpc.
%
%By?Yi?Cao?Cranfield?University?UK?（c）?27?January?2009
%

????persistent?ssmpc?ny

????switch?flag
????
????????%%%%%%%%%%%%%%%%%%
????????%?Initialization?%
????????%%%%%%%%%%%%%%%%%%
????????case?0
????????????error（nargchk（1313nargin））;

????????????[nxnu]=size（B）;
????????????ny=size（C1）;
????????????
????????????if?~isequal（size（A）?[nx?nx]）?||?~isequal（size（D）[ny?nu]）
????????????????error（‘Model?matrix?dimension?does?not?match.‘）;
????????????end
????????????
????????????if?~isscalar（P）?||?~isscalar（M）?||?P<=0?||?M?<=?0?||?M>P
????????????????error（‘P?and?M?must?be?positive?scalars?and?P>=M.‘）
????????????end
????????????
????????????if?~isequal（size（Q）?[ny*P?ny*P]）?||?~isequal（size（R）?[nu*M?nu*M]）
????????????????error（‘Weight?matrix?dimension?does?not?match.‘）
????????????end
????????????
????????????if?~isscalar（Ts）?||?Ts<=0
????????????????error（‘dt?must?be?a?positive?scalar.‘）;
????????????end
????????????
????????????%?MPC?set-up
????????????ssmpc=mpcsetup（ABCDPMQR）;
????????????
????????????sizes?=?simsizes;
????????????sizes.NumContStates??=?0;
????????????sizes.NumDiscStates??=?0;
????????????%??????sizes.NumDiscStates??=?nx+ny;
????????????sizes.NumOutputs?????=?nu;
????????????sizes.NumInputs??????=?2*ny;??%?output?+?setpoint
????????????sizes.DirFeedthrough?=?1;
????????????sizes.NumSampleTimes?=?1;
????????????sys?=?simsizes（sizes）;
????????????str?=?[];
????????????x0?=?[];
????????????%???????offset=zeros（ny1）;
????????????%??????x0?=?zeros（nx+ny1）;
????????????%???????du?=?zeros（nu1）;
????????????ts??=?[Ts?0];
????????????
????????????
????????????%%%%%%%%%%
????????????%?Update?%
????????????%%%%%%%%%%
????????case?2
????????????sys?=?[];
????????????
????????????%%%%%%%%%%
????????????%?Output?%
????????????%%%%%%%%%%
????????case?3
????????????sys?=?ssmpc（y（1:ny）‘y（ny+1:2*ny）‘）;
????????????
????????????%%%%%%%%%%%%%
????????????%?Terminate?%
????????????%%%%%%%%%%%%%
????????case?9
????????????sys?=?[];?%?do?nothing
????????????
????????????%%%%%%%%%%%%%%%%%%%%
????????????%?Unexpected?flags?%
????????????%%%%%%%%%%%%%%%%%%%%
????????otherwise
????????????error（[‘unhandled?flag?=?‘num2str（flag）]）;
????end
end

function?f=mpcsetup（ABCDpmQRx0u0）

%?Input?and?output?check
error（nargchk（810nargin））;
error（nargoutchk（11nargout））;

%?dimension?of?the?system
nx=size（A1）;
[nynu]=size（D）;

%?precalculate?the?gain?matrices?of?the?online?controller
[KPr]?=?predmat（ABCDpmQR）;
%?only?the?first?instance?is?required
K1?=?K（1:nu:）;
Pr?=?Pr（1:nu:）;

%?default?initial?conditions
if?nargin<9
????x0=zeros（nx1）;
end
if?nargin<10
????u0=zeros（nu1）;
end

%?the?online?controller
f?=?@ssmpc;
????function?u=ssmpc（yr）
????????%?update?state
????????x0?=?A*x0?+?B*u0;
????????%?get?the?reference

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件???????9353??2009-01-27?11:38??82493621mpCsimulink\mpCsimulink\html\mpcdss.jpeg

?????文件??????11531??2009-01-27?11:59??82493621mpCsimulink\mpCsimulink\html\mpcsimulink.html

?????文件???????6536??2009-01-27?11:59??82493621mpCsimulink\mpCsimulink\html\mpcsimulink_01.png

?????文件???????9080??2009-01-27?11:59??82493621mpCsimulink\mpCsimulink\html\mpcsimulink_02.png

?????文件???????8823??2009-01-27?11:40??82493621mpCsimulink\mpCsimulink\html\mpcss.jpeg

?????文件???????1327??2009-05-20?04:16??82493621mpCsimulink\mpCsimulink\license.txt

?????文件??????39285??2017-07-18?09:48??82493621mpCsimulink\mpCsimulink\mpcdss.mdl

?????文件??????32203??2009-01-27?11:05??82493621mpCsimulink\mpCsimulink\mpcdss.mdl.r2008b

?????文件???????4339??2009-01-27?11:02??82493621mpCsimulink\mpCsimulink\mpcsfunc.m

?????文件???????3985??2017-07-20?10:01??82493621mpCsimulink\mpCsimulink\mpcsimulink.m

?????文件??????30915??2009-01-27?11:20??82493621mpCsimulink\mpCsimulink\mpcss.mdl

?????文件??????29327??2008-04-21?11:32??82493621mpCsimulink\mpCsimulink\ssmpc\html\2cstrPlant.png

?????文件??????11147??2008-04-21?12:11??82493621mpCsimulink\mpCsimulink\ssmpc\html\ssmpctutorial.html

?????文件???????7084??2008-04-21?12:11??82493621mpCsimulink\mpCsimulink\ssmpc\html\ssmpctutorial_01.png

?????文件???????1327??2009-05-20?04:16??82493621mpCsimulink\mpCsimulink\ssmpc\license.txt

?????文件???????4696??2008-04-21?12:12??82493621mpCsimulink\mpCsimulink\ssmpc\mpcsetup.m

?????文件???????3819??2008-04-21?12:11??82493621mpCsimulink\mpCsimulink\ssmpc\ssmpctutorial.m

?????目錄??????????0??2017-07-03?16:26??82493621mpCsimulink\mpCsimulink\ssmpc\html

?????目錄??????????0??2017-07-03?16:26??82493621mpCsimulink\mpCsimulink\html

?????目錄??????????0??2017-07-03?16:26??82493621mpCsimulink\mpCsimulink\ssmpc

?????目錄??????????0??2017-07-21?15:56??82493621mpCsimulink\mpCsimulink

?????目錄??????????0??2017-07-03?16:26??82493621mpCsimulink

-----------?---------??----------?-----??----

???????????????214777????????????????????22