MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Specifiche Scaricare il pdf (Pagina 113)

Design Controller at the Command Line

4-3

View and Alter Controller Properties

Once you've defined an MPC object, it's easy to alter its properties. For a description of

the editable properties, type:

mpcprops

To display the list of properties and their current values, type

get(MPCobj)

ManipulatedVariables (MV): [1x1 struct]

OutputVariables (OV): [1x2 struct]

DisturbanceVariables (DV): [1x1 struct]

Weights (W): [1x1 struct]

Model: [1x1 struct]

Ts: 1

Optimizer: [1x1 struct]

PredictionHorizon (P): 10

ControlHorizon: 2

History: [2e+003 7 21 20 18 20.1]

Notes: {}

UserData: []

(Your History entry will differ.) To alter one of these properties, you can use the syntax

ObjName.PropName = value;

where ObjName is the object name, and PropName is the property you want to set. For

example, to change the prediction horizon from 10 (the default) to 15, type:

MPCobj.P = 15;

Note You can abbreviate property names provided that the abbreviation is unambiguous.

As shown above, many of the properties are MATLAB structures containing additional

properties. For example, type

MPCobj.MV

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MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Specifiche Pagina 113