comfContrMPC

class representing a MPC controller object

Contents

Syntax

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) .V set of measurement errors (class: interval or; zonotope) .X set of state constraints (class: mptPolytope) .N number of time-steps [{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 in reference trajectory time steps .Ninter number of intermediate time steps during one reference trajectory time step

Output Arguments

obj	resulting object of class comfContrMPC

See Also

safetyNetControl, objSafetyNetContr

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Published with MATLAB® R2022a