function?p=dmc（p）
%?DMC???Dynamic?Matrix?Control
%?P=DMC（P）?determines?the?dynamic?matrix?control?（input?change）?based?on
%?the?plant?model?（step?response）?and?current?measurement?stored?in?the
%?structure?P.?
%?Input:
%???P.sr?-?unit?step?response?data
%???P.u??-?current?input?initially?0
%???P.v??-?past?input?initially?empty
%???P.G??-?dynamic?matrix?set?by?the?initial?call
%???P.F??-?matrix?to?calculate?free?response?set?by?the?initial?call
%???P.k??-?DMC?gain?set?by?the?initial?call
%???P.r??-?reference?（set?point）
%???P.a??-?reference?smooth?factor
%???P.p??-?prediction?horizon
%???P.m??-?moving?horizon
%???P.y??-?current?mrasurement
%???P.la?-?performance?criterion?weight?i.e.?J?=?||r-y||?+?p.la*||du||
%??????????where?du?is?the?input?change
%?Output:
%???P.u??-?new?input?for?next?step
%???P.f??-?updated?free?response
%???P.G??-?dynamic?matrix?if?it?is?the?first?step.
%???P.k??-?DMC?gain?if?it?is?the?first?step
%
%?See?Also:?mpc

%?Version?1.0?created?by?Yi?Cao?at?Cranfield?University?on?6th?April?2008.

%?Example:?
%{
p.sr=filter（[0?0?0.2713][1?-0.8351]ones（501））;
p.p=10;
p.m=5;
p.y=0;
p.v=[];
u=zeros（13）;
N=120;
Y=zeros（N1）;
U=zeros（N1）;
R=zeros（N1）;
R（[1:30?61:90]）=1;
p.la=1;
for?k=1:120
????p.a=0;
????p.r=R（k:min（Nk+p.p））;
????if?k>60
????????p.a=0.7;
????end
????p=dmc（p）;
????Y（k）=p.y;
????U（k）=p.u;
????u=[u（2:3）?p.u];
????p.y=0.8351*p.y+0.2713*u（1）;
end
subplot（211）
plot（1:NY‘b-‘1:NR‘r--‘[60?60][-0.5?1.5]‘:‘‘linewidth‘2）
title（‘solid:?output?dashed:?reference‘）
text（351‘\alpha=0‘）
text（951‘\alpha=0.7‘）
axis（[0?120?-0.5?1.5]）
subplot（212）
[xxyy]=stairs（1:NU）;
plot（xxyy‘-‘[60?60][-0.5?1.5]‘:‘‘linewidth‘2）
axis（[0?120?-0.5?1.5]）
title（‘input‘）
xlabel（‘time?min‘）
%}
%?Input?and?output?check
error（nargchk（11nargin））;
error（nargoutchk（01nargout））;

%?length?of?step?response
N=numel（p.sr）;
P=p.p;

%?initial?setup
if?isempty（p.v）
????%?number?of?past?inputs?to?keep
????n=N-P;
????%?storage?for?past?input
????p.v=zeros（n1）;
????%?matrix?to?calculate?free?response?from?past?input
????x=p.sr（1:n）;
????p.F=hankel（p.sr（2:P+1）p.sr（P+1:N））-repmat（x（:）‘P1）;
????%?dynamic?matrix
????p.G=toeplitz（p.sr（1:P）p.sr（1）*eye（1p.m））;
????%?calculate?DMC?gain
????R=chol（p.G‘*p.G+p.la*eye（p.m））;
????K=R\（R‘\p.G‘）;
????%?only?the?first?input?will?be?used
????p.k=K（1:）;
????p.u=0;
end
%?free?response
f=p.F*p.v+p.y;
%?smooth?reference
nr=numel（p.r）;
if?nr>=P
????ref=p.r（1:P）;
else
????ref=[p.r（:）;p.r（end）+zeros（P-nr1）];
end
w=filter（[0?（1-p.a）][1?-p.a]refp.y）;
%?DMC?input?change
u=p.k*（w-f）;
%?past?input?change?for?next?step
p.v=[u;p.v（1:end-1）];
%?next?input
p.u=p.u+u（1）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-08-16?13:39??MPC程序\
?????目錄???????????0??2018-09-24?13:42??MPC程序\無約束\
?????文件????????1416??2014-02-23?14:41??MPC程序\無約束\noise.m
?????文件?????????280??2018-09-25?19:46??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??2018-08-16?13:39??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
?????目錄???????????0??2018-08-16?13:55??dmc\
?????文件????????2766??2008-04-08?09:18??dmc\dmc.m
?????文件???????28477??2018-08-16?13:48??dmc\dmc.zip
?????文件????????4862??2008-04-08?09:21??dmc\dmctutorial.m
?????文件????????1306??2014-02-12?12:35??dmc\license.txt
?????目錄???????????0??2018-09-24?13:05??先進控制算法MPC和DMC\
?????文件?????????526??2018-03-20?11:06??先進控制算法MPC和DMC\MAC1.m
?????文件?????????370??2018-03-20?11:29??先進控制算法MPC和DMC\MAC2.m
?????文件?????????310??2018-03-20?17:37??先進控制算法MPC和DMC\MAC3.m
?????文件?????????426??2018-03-20?17:22??先進控制算法MPC和DMC\MAC4.m
............此處省略3個文件信息