clear;
clc;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%基礎(chǔ)參數(shù)設(shè)置
delt=1;%采樣周期
N=150;?%模型長(zhǎng)度
p=2;m=2;?%系統(tǒng)維數(shù)-2輸入2輸出
t=0:delt:delt*N;
P=10;%優(yōu)化時(shí)域?
M=5;?%控制時(shí)域
nn=N/delt+1;?%在線計(jì)算步數(shù)
%輸出誤差加權(quán)系數(shù)-單位陣?
ramena_y=1;q=ramena_y*eye（P）;
%控制加權(quán)系數(shù)-對(duì)角線元素為0.02的對(duì)角陣
ramena_u=0.02;r=ramena_u*eye（M）;
rd=0;%擾動(dòng)

%傳遞函數(shù)建立
sys11=tf（0.35[500?45?1]‘inputdelay‘1）;
sys12=tf（0.50[150?25?1]‘inputdelay‘2.5）;
sys21=tf（0.85[2000?90?1]‘inputdelay‘2）;
sys22=tf（-0.90[1200?70?1]‘inputdelay‘1）;

%建立階躍響應(yīng)模型
[y11t11x11]=step（sys11t）;model{11}=y11（1:N）;
[y12t12x12]=step（sys12t）;model{12}=y12（1:N）;
[y21t21x21]=step（sys21t）;model{21}=y21（1:N）;
[y22t22x22]=step（sys22t）;model{22}=y22（1:N）;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%模型預(yù)測(cè)
%建立動(dòng)態(tài)響應(yīng)矩陣?A
for?i=1:p
??for?j=1:m??%對(duì)?p*m?個(gè)優(yōu)化變量賦值
????for?i1=1:M
??????for?i2=1:P
????????if?i2???????????B{ij}（i2i1）=0;?%超出控制時(shí)域時(shí)，控制增量無(wú)變化
????????else
???????????B{ij}（i2i1）=model{ij}（i2-i1+1）;%未超出時(shí)賦值為對(duì)應(yīng)的階躍響應(yīng)系數(shù)
????????end
??????end
????end
??end
??C{i}=cat（2B{i1:m}）;?%聯(lián)結(jié)為動(dòng)態(tài)響應(yīng)矩陣的行數(shù)
end
A=cat（1C{1:p}）;
%按列連接為動(dòng)態(tài)響應(yīng)矩陣?由階躍響應(yīng)系數(shù)組成的?P*M陣
%{}中下標(biāo)?i?表示所預(yù)測(cè)未來(lái)輸出的個(gè)數(shù)，下標(biāo)?j?表示控制量變化的次數(shù)
for?i=1:p
??aa{i}=cat（2model{i1:m}）;
end
A0=cat（1aa{1:p}）;
ym=zeros（p*N1）;
y=zeros（nnp）;
du=zeros（m1）;
uu=zeros（m1）;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%滾動(dòng)優(yōu)化
%求控制向量?dT（由?Q?R?P?M?四個(gè)參數(shù)確定）
for?i=1:p?
????qq{i}=q;
end
Q=blkdiag（qq{1:p}）;
for?i=1:m
????rr{i}=r;
end
R=blkdiag（rr{1:m}）;
L=zeros（mm*M）;??

for?i=1:m
??????L（iM*（i-1）+1）=1;
?end
D=L*inv（A‘*Q*A+R）*A‘*Q;?%控制向量計(jì)算公式

sp1=1;sp2=1;%預(yù)測(cè)輸出設(shè)定值?可調(diào)整分別不一樣
w{1}=sp1*ones（P1）;
w{2}=sp2*ones（P1）;
W=cat（1w{1:p}）;
%輸出期望值
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%反饋校正
%建立矩陣HhstSS0
hst=ones（N1）;
for?i=1:p
????hh{i}=hst;
end
??H=blkdiag（hh{1:p}）;
??ss=zeros（pp*N）;
??
for?i=1:m
????ss（iN*（i-1）+1）=1;
end
??S=zeros（N）;
??
for?i=1:N
????for?j=1:N
???????if?j==i+1
??????????S（ij）=1;
???????end
????end
end
S（NN）=1;

for?i=1:p
????s{i}=S;
end
S0=blkdiag（s{1:p}）;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%在線計(jì)算初始狀態(tài)設(shè)置
u1_1=0;u1_2=0;
u2_1=0;u2_2=0;
y1_1=0;y1_2=0;y1_3=0;y1_4=0;
y2_1=0;y2_2=0;
y3_1=0;y3_2=0;
y4_1=0;y4_2=0;
u1=0;u2=0;
z11=c2d（sys110.5*delt‘zoh‘）;
[num1den1]=tfdata（z11‘v‘）;
z12=c2d（sys120.5*delt‘zoh‘）;
[num2den2]=tfdata（z12‘v‘）;
z21=c2d（sys210.5*delt‘zoh‘）;
[num3den3]=tfdata（z21‘v‘）;
z22=c2d（sys220.5*delt‘zoh‘）;
[num4den4]=tfdata（z22‘v‘）;

%在線計(jì)算
for?k=1:nn
y111=num1（1）*u1+num1（2）*u1_

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

?????文件????2134489??2019-06-21?16:14??DMC_ttf_huitudou.pdf

?????文件???????4599??2019-06-21?20:34??DMC.m

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

??????????????2139088????????????????????2