www.gusucode.com > mpc 案例源码 matlab代码程序 > mpc/RetrieveCustomConstraintsFromMPCControllerExample.m
%% Retrieve Custom Constraints from MPC Controller %% % Create a third-order plant model with two manipulated variables, one % measured disturbance, and two measured outputs. % Copyright 2015 The MathWorks, Inc. plant = rss(3,2,3); plant.D = 0; plant = setmpcsignals(plant,'mv',[1 2],'md',3); %% % Create an MPC controller for this plant. MPCobj = mpc(plant,0.1); %% % Assume that you have two soft constraints. %% % % $$\begin{array}{l} % {u_1} + {u_2} \le 5\\ % {y_2} + v \le 10 % \end{array}$$ % %% % Set the constraints for the MPC controller. E = [1 1; 0 0]; F = [0 0; 0 1]; G = [5;10]; V = [1;1]; S = [0;1]; setconstraint(MPCobj,E,F,G,V,S) %% % Retrieve the constraints from the controller. [E,F,G,V,S] = getconstraint(MPCobj)