MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Specifications Page 52
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3 Designing Controllers Using the Design Tool GUI
3-2
Design Controller Using the Design Tool
In this section...
“Start the Design Tool” on page 3-2
“Load a Plant Model” on page 3-3
“Navigate Using the Tree View” on page 3-6
“Perform Linear Simulations” on page 3-10
“Customize Response Plots” on page 3-17
“Change Controller Settings” on page 3-23
“Define Soft Output Constraints” on page 3-40
“Save Your Work” on page 3-44
“Load Your Saved Work” on page 3-46
The Model Predictive Control Toolbox design tool is a graphical user interface for
controller design. This GUI is part of the Control and Estimation Tools Manager GUI.
Start the Design Tool
Start the design tool by typing the MATLAB command
mpctool
The Control and Estimation Tools Manager window appears, as shown below. By default,
it contains a Model Predictive Control Toolbox task called MPC Design Task (listed in
the tree view on the left side of the window), which is selected, causing the view shown on
the right to appear.
- 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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