function?[sysx0strts]?=?MyMPC_v1（txuflag）
%???該函數是寫的第3個S函數控制器（MATLAB版本：R2011a）
%???限定于車輛運動學模型，控制量為速度和前輪偏角，使用的QP為新版本的QP解法
%???[sysx0strts]?=?MY_MPCController3（txuflag）
%
%?is?an?S-function?implementing?the?MPC?controller?intended?for?use
%?with?Simulink.?The?argument?md?which?is?the?only?user?supplied
%?argument?contains?the?data?structures?needed?by?the?controller.?The
%?input?to?the?S-function?block?is?a?vector?signal?consisting?of?the
%?measured?outputs?and?the?reference?values?for?the?controlled
%?outputs.?The?output?of?the?S-function?block?is?a?vector?signal
%?consisting?of?the?control?variables?and?the?estimated?state?vector
%?potentially?including?estimated?disturbance?states.

switch?flag
?case?0
??[sysx0strts]?=?mdlInitializeSizes;?%?Initialization

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????47490??2020-05-02?15:17??LKA_MPC_v1.mdl
?????文件????????7762??2020-05-08?20:06??MyMPC_v1.m