comfContrMPC

class representing a MPC controller object

Contents

Syntax

obj = CONFCONTRMPC(benchmark,Opts,ContrOpts)

Description

This class represents a MPC (Model Predictive Control) controller object which can be used as a comfort controller during the online phase of the Safety Net Controller.

Input Arguments

benchmark

name of the considered benchmark model (see; "aroc/benchmarks/...")

Opts

a structure containing following options

.xf

goal state

.tFinal

final time after which the goal set should be reached

.U

set of admissible control inputs (class:; interval)

.W

set of uncertain disturbances (class: interval)

.N

number of time-steps [{10} / positive integer]

.Ninter

number of intermediate time steps [{4} / positive integer]

.reachSteps

number of reachability steps in one time step [{10} / positive integer]

.xCenter

reference trajectory states

.uCetner

reference trajectory inputs

ContrOpts

a structure with options for comfort controller

.Q

state weighting matrix for the MPC controller

.R

input weighting matrix for the MPC controller

.horizon

optimization horizon for the optimal control problems

Output Arguments

obj

resulting object of class comfContrMPC

See Also

safetyNetControl, objSafetyNetContr


© 2018-2020 I6 Technische Universität München Website License

logoAroc logoCora logoChair logoTum