load?step_model;
load?unconstrained_MPC
%--------無噪聲情況-----------%
Kmpc=mpccon（modelywuwMP）;
[yu]=mpcsim（plantmodelKmpctendr）;
%------與噪聲相關的參數-------%
usat=[];
tfilter=[];
dplant=model;
dmodel=model;
%----------生成白噪聲---------%
n=randn（tend/Ts1）;
n=n-mean（n）;
n=n/std（n）;
a=0;?b=sqrt（0.1）;
n=a+b*n;%零均值，方差為0.1
dstep=n;
[y1u1]=mpcsim（plantmodelKmpctendrusattfilterdplantdmodeldstep）;
%----------生成白噪聲---------%
n=randn（tend/Ts1）;
n=n-mean（n）;
n=n/std（n）;
a=0;?b=sqrt（10）;
n=a+b*n;%零均值，方差為10
dstep=n;
[y2u2]=mpcsim（plantmodelKmpctendrusattfilterdplantdmodeldstep）;
subplot（221）;
plot（0:Ts:tendy（:1）‘--‘）;
hold?on;
plot（0:Ts:tendy1（:1）‘r‘）;
grid?on;
xlabel（‘time（s）‘）;
legend（‘未加白噪聲輸出‘‘加入白噪聲輸出‘）;
title（‘Output?方差0.1‘）;
subplot（222）;
plot（0:Ts:tendy（:1）‘--‘）;
hold?on;
plot（0:Ts:tendy2（:1）‘r‘）;
grid?on;
xlabel（‘time（s）‘）;
legend（‘未加白噪聲‘‘加入白噪聲‘）;
title（‘Output?方差10‘）;
subplot（223）;
plot（0:Ts:tendu‘--‘）;
hold?on;
plot（0:Ts:tendu1‘r‘）;
grid?on;
legend（‘未加白噪聲控制量‘‘加入白噪聲控制量‘）;
xlabel（‘time（s）‘）;
title（‘Manipulated?Variables?方差0.1‘）;?
subplot（224）;
plot（0:Ts:tendu‘--‘）;
hold?on;
plot（0:Ts:tendu2‘r‘）;
grid?on;
legend（‘未加白噪聲控制量‘‘加入白噪聲控制量‘）;
xlabel（‘time（s）‘）;
title（‘Manipulated?Variables?方差10‘）;?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-03-21?15:22??MPC程序\
?????目錄???????????0??2014-03-21?15:20??MPC程序\無約束\
?????文件????????1416??2014-02-23?14:41??MPC程序\無約束\noise.m
?????文件?????????256??2014-02-23?14:41??MPC程序\無約束\step_model.m
?????文件?????2403161??2014-02-23?14:42??MPC程序\無約束\step_model.mat
?????文件?????1169443??2014-02-23?14:42??MPC程序\無約束\unconstrained_MPC.mat
?????文件????????1912??2014-02-23?14:42??MPC程序\無約束\unconstrained_m.m
?????文件????????1935??2014-02-23?14:42??MPC程序\無約束\unconstrained_p.m
?????文件????????1888??2014-02-23?14:42??MPC程序\無約束\unconstrained_uw.m
?????文件????????1916??2014-02-23?14:42??MPC程序\無約束\unconstrained_yw.m
?????目錄???????????0??2014-03-21?15:20??MPC程序\約束\
?????文件????????1782??2014-02-23?14:42??MPC程序\約束\cmpcQP.m
?????文件????????1758??2014-02-23?14:42??MPC程序\約束\cmpcQP_m.m
?????文件????????1735??2014-02-23?14:42??MPC程序\約束\cmpcQP_yw.m
?????文件????????1910??2014-02-23?14:42??MPC程序\約束\cmpcQPnoise.m
?????文件????????2393??2014-02-23?14:42??MPC程序\約束\compare.m
?????文件?????2327554??2014-02-23?14:43??MPC程序\約束\dstatespace.mat
?????文件????????1410??2014-02-23?14:42??MPC程序\約束\genQP.m
?????文件?????????392??2014-02-23?14:42??MPC程序\約束\get_F.m
?????文件?????????243??2014-02-23?14:42??MPC程序\約束\state_model_c2d.m
?????文件??????939731??2014-02-23?14:43??MPC程序\約束\step_model.mat