%%?State-space?MPC?set-up
%???SSMPC=MPCSETUP（ABCDPMQRX0U0）?returns?a?function?handle?for?a
%???state?space?model?predictive?control?for?the?state?space?model
%???x（k+1）?=?Ax（k）?+?Bu（k）
%???y（k）???=?Cx（k）?+?Du（k）
%???with?predictive?horizon?P?and?moving?horizon?M?performance?weights?of
%???output?Q?and?of?input?R?initial?state?X0?and?initial?control?U0.
%
%???SSMPC?is?the?online?controller?which?can?be?called?as?follows?
%
%???U?=?SSMPC（YREF）?returns?the?control?input?U?（nu?by?1）?according?to
%???current?measured?output?Y?（1?by?ny）?and?future?reference?REF?（nr?by
%???ny?nr>=1）.?
%
%???The?MPC?minimize?the?following?performance?criterion:
%???J?=?min?Y‘QY?+?U‘RU
%
%???The?online?controller?is?implemented?as?a?nested?function?so?that?the
%???state?of?the?internal?model?can?be?kept?inside?of?the?function.?This
%???simplifies?the?input?and?output?interface?of?the?online?controller.
%???
%???the?expression?of?SSMPC:
%???SSMPC=MPCSETUP（ABCDPMQRX0U0）;?

%%?Online?controller
%?The?returned?function?handle?from?the?MPC?setup?program?is?an?online
%?controller?SSMPC.?The?controller?is?called?by?proving?two?inputs:
%?current?measurement?Y?and?future?reference?Ref.?On?return?it?produces
%?the?optimal?input?U?for?next?step:
%?U?=?SSMPC（YRef）?rolling?optimization

%%?A?two-CSTR?example
%?A?two-CSTR?（Continuous?Stired?Reaction?Tank）?process?is?shown?as?follows.
%?A?linear?state?space?of?the?model?is?developed?for?the?plant.?The?model
%?has?six?states?two?inputstwo?input?and?two?disturbances?.
%?The?discrete?model?with?sampling?rate?0.1?s?is?as?follows:
A=[??????0???????0???????????0;
?????????0????0.3679?????????0;
?????????0????1.0000?????????0];
Bu=[?1?????0;
?????0?????1;
?????0?????0];
?Bd=[??0.050???????0?????;
?????????0????0.0817???????;
?????????0????1?];

C=[??0.7?????0.0290???-0.0107;
????0.1057????3.6157?????????0];
%D=[0?0;0?0]
D=zeros（22）;

%%?MPC?parameters
%?The?MPC?controller?is?configured?with?following?parameters.
%?Prediction?horizon?and?moving?horizon
p=20;
m=4;
%?Performance?wights
%Q?and?R?are?diagonal?matrices
Q=0.1*eye（2*p）;
R=10*eye（2*m）;

%%?MPC?set-up（建立函數(shù)）
%?The?MPC?controller?is?set-up?by?calling?SSMPCSETUP:
%?ssmpc?=@mpcsetup/ssmpc
ssmpc=mpcsetup（ABuCDpmQR）;

%%?Simulation
%?Simulation?length?and?variables?for?results
N=600;
x0=zeros（31）;
%Y?is?a?null?matrix?of?600*2
Y=zeros（N2）;
%U?is?a?null?matrix?of?600*2
U=zeros（N2）;
%?Predefined?reference
%W?is?a?null?matrix?of?600*2
W=zeros（N2）;
W（1:N1）=0;
W（1:N2）=5.25;

%simulation
for?k=1:N
????%Process?disturbances
????%rand（21）is?a?random?matrix?of?2*1?
????w=Bd*（rand（21）-0.5）*2;
????%Measurements?noise
????%randn（21）is?a?random?matrix?with?normal?distribution?of?2*1
????v=0.01*randn（21）;
????%?actual?measurement
????%y=c*x（k）+d*u（k）
????y=C*x0+v;
????%?online?controller
????u=ssmpc（yW（k:end:）‘）;
????%plant?update
????%x（k+1）=A*x（k）+Bu（k）

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????3509??2013-12-02?15:39??fanglujie.m

?????文件???????4758??2013-12-02?11:16??mpcsetup.m

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

?????????????????8267????????????????????2