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