mpt_import
Purpose
Converts sysStruct and probStruct into an MPT3 prediction model
Syntax
model = mpt_import(sysStruct, probStruct)
Description
model = mpt_import(sysStruct, probStruct) converts
MPT2-styled control problem, described by sysStruct and
probStruct structures, into an MPT3 prediction model. The
model can then be used for synthesis of MPC controllers via
controller = MPCController(model).
The following list shows which fields of sysStruct and
probStruct can be automatically converted and what are
their respective equivalents in MPT3:
-
sysStruct.xmin: model.x.min
-
sysStruct.xmax: model.x.max
-
sysStruct.umin: model.u.min
-
sysStruct.umax: model.u.max
-
sysStruct.ymin: model.y.min
-
sysStruct.ymax: model.y.max
-
probStruct.Q: model.x.penalty
-
probStruct.R: model.u.penalty
-
probStruct.Qy: model.y.penalty
-
probStruct.P_N: model.x.terminalPenalty
-
probStruct.Tset: model.x.terminalSet
-
probStruct.xref: model.x.reference
-
probStruct.uref: model.u.reference
-
probStruct.yref: model.y.reference
-
probStruct.tracking: currently only
tracking=0 is supported
-
probStruct.Nc: model.u.block
-
probStruct.sxmax: model.x.softMin and model.x.softMax
-
probStruct.sumax: model.u.softMin and model.u.softMax
-
probStruct.symax: model.y.softMin and model.y.softMax
-
probStruct.subopt_lev: currently only
subopt_lev=0 is supported. Use ctrl =
EMinTimeController(model) to obtain a minimum-time controller
Input Arguments
sysStruct |
System structure
Class: struct
|
probStruct |
Problem structure
Class: struct
|
Output Arguments
© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk