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Simulate Controller with Nonlinear Plant

4-13

• Function linearize relinearizes the plant as its state evolves. This function was

discussed previously in “Linearization Using MATLAB Code”.

• The code also resets the linear model's nominal conditions to the latest values. Note,

however, that the first two input signals, which are unmeasured disturbances in the

1 2 ... 118 119 120 121 122 123 124 125 126 127 128 ... 165 166

Getting Started Guide 1
How to Contact MathWorks 2
Revision History 3
Contents 5
Introduction 9
1 Introduction 10
Acknowledgments 11
Bibliography 12
Building Models 13
MPC Modeling 14
MPC Modeling 15
Input Disturbance Model 16
Output Disturbance Model 17
Measurement Noise Model 18
Signal Types 20
Transfer Function Models 21
Zero/Pole/Gain Models 22
State-Space Models 22
Ax Bu= + 23
2 Building Models 24
LTI Model Characteristics 27
CSTR Model 31
Linearize Simulink Models 33
Linearize Simulink Models 37
Identify Plant from Data 43
Design Tool GUI 51
Start the Design Tool 52
Load a Plant Model 53
Navigate Using the Tree View 56
Customize Response Plots 67
Adding a Data Marker 68
Data Marker Contents 69
Relocating a Data Marker 69
Deleting Data Markers 69
Right-Click Options 70
Viewing Selected Scenarios 70
Revising a Scenario 71
Change Controller Settings 73
S k w r k i y k i 76
( ) [ ( ) ( )]= + - + 76
D + -u k i 77
Input Weights 78
S k w u k i u 79
( ) [ ( ) ]= + - 79
Save Your Work 94
Load Your Saved Work 96
Test Controller Robustness 98
Test Controller Robustness 99
Click Simulate 106
Related Examples 107
Command Line 111
Create a Controller Object 112
Review Controller Design 115
Perform Linear Simulations 116
Save Calculated Results 118
Nonlinear CSTR Application 119
CSTR Results and Discussion 122
A Two-Model Plant 125
Designing the Two Controllers 127
Compute Steady-State Gain 134
Extract Controller 135
Signal Previewing 137
Run-Time Constraint Updating 138
Run-Time Weight Tuning 139
More About 140
Simulink 141
Design Controller in Simulink 142
See Also 154
Test an Existing Controller 155

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