www.gusucode.com > mpc 案例源码 matlab代码程序 > mpc/GetControllerStateObjectExample.m
%% Get Controller State Object % Create a Model Predictive Controller for a single-input-single-output % (SISO) plant. For this example, the plant includes an input delay of % 0.4 time units, and the control interval to 0.2 time units. %% % Copyright 2015 The MathWorks, Inc. H = tf(1,[10 1],'InputDelay',0.4); MPCobj = mpc(H,0.2); %% % Create the corresponding controller state object in which all states are % at their default values. xMPC = mpcstate(MPCobj) %% % The plant model, |H|, is a first-order, continuous-time transfer % function. The |Plant| property of the |mpcstate| object contains two % additional states to model the two intervals of delay. Also, by default % the controller contains a first-order output disturbance model (an % integrator) and an empty measured output noise model. %% % View the default covariance matrix. xMPC.Covariance