function[EH]=dmpc（A_eB_eaNNpQR）
%%%A_eB_e?define?the?extended?state-space?model?when?integrator?is?usedd
%N?the?number?of?terms?for?each?input
%Np?prediction?horizon
%Q?weight?on?the?state?variables
%?R?weight?on?the?input?variables?assumed?to?be?diagonal
%?the?cost?function?is?J=eta^T?E?eta?+2?eat^?T?H?x（k_i）
[nn_in]=size（B_e）;
N_pa=sum（N）;?%?the?dimension?of?eta
E=zeros（N_paN_pa）;
H=zeros（N_pan）;
R_para=zeros（N_paN_pa）;
n0=1;
ne=N（1）;
for?i=1:n_in-1
????R_para（n0:nen0:ne）=R（ii）*eye（N（i）N（i））;
????n0=n0+N（i）;
????ne=ne+N（i+1）;
end
R_para（n0:N_pan0:N_pa）=R（n_inn_in）*eye（N（n_in）N（n_in））;
%%?prepare?the?initial?conditions?for?the
%%convolution?sum?and?calculates?the?case?i=1?each?input?takes?a?positon?in?the?convolution?sum
S_in=zeros（nN_pa）;
[A1L0]

?屬性????????????大小?????日期????時(shí)間???名稱
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????.......??????2047??2015-12-09?22:45??discrete?mpc?with?constraints\dmpc.m

?????文件???????3766??2015-12-22?09:58??discrete?mpc?with?constraints\frontwheel2dofwithconstraints.m

????.......??????3885??2015-12-09?22:45??discrete?mpc?with?constraints\frontwheel6dofwithconstraints.m

????.......???????213??2015-12-09?22:45??discrete?mpc?with?constraints\lagd.m

????.......??????1177??2015-12-09?22:45??discrete?mpc?with?constraints\main.m

????.......??????4187??2015-12-09?22:52??discrete?mpc?with?constraints\MAINSBW\main.m

????.......??????1706??2015-12-09?22:52??discrete?mpc?with?constraints\MAINSBW\sbwcontrolfactor.m

????.......??????4271??2015-12-09?22:45??discrete?mpc?with?constraints\sbwmaimwithoutfault.m

????.......??????4211??2015-12-09?22:45??discrete?mpc?with?constraints\sbwmain30.m

????.......??????4654??2015-12-09?22:45??discrete?mpc?with?constraints\sbwmainfault30.m

????.......?????22274??2015-12-09?22:45??discrete?mpc?with?constraints\steeringweelsubsystem.slx

????.......?????13521??2015-12-09?22:45??discrete?mpc?with?constraints\steeringweelsubsystem.slx.r2014b

?????目錄??????????0??2015-12-17?10:05??discrete?mpc?with?constraints\MAINSBW

?????目錄??????????0??2015-12-17?10:05??discrete?mpc?with?constraints

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????????????????65912????????????????????14