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4 Designing Controllers Using the Command Line

4-28

Run-Time Constraint Updating

Constraint bounds can change during controller operation. The mpcmove,

mpcmoveAdaptive, and mpcmoveExplicit commands allow for this possibility. In

Simulink, all the MPC Controller blocks allow for it as well. Both of these simulation

approaches give you the option to update all specified bounds at each control interval.

You cannot constrain a variable for which the corresponding controller object property is

unbounded.

If your controller object uses time-varying constraints, the updating option applies to the

first finite value in the prediction horizon, and all other values adjust to maintain the

same profile, i.e., they update by the same amount.

Related Examples

• Varying Input and Output Constraints

More About

• “Run-Time Weight Tuning” on page 4-29

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MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Specifiche Pagina 138