www.gusucode.com > mpc 案例源码 matlab代码程序 > mpc/SpecifyCustomHardConstraintsForAnMPCControllerExample.m

    %% Specify Custom Hard Constraints for MPC Controller
%%
% Create a third-order plant model with two manipulated variables and two
% measured outputs.
plant = rss(3,2,2);
plant.D = 0;

%%
% Create an MPC controller for this plant.
MPCobj = mpc(plant,0.1);

%%
% Assume that you have two hard constraints.
%%
% 
% $$\begin{array}{l}
% {u_1} + {u_2} \le 5\\
% {y_1} + y_2 \le 10
% \end{array}$$
% 

%%
% Specify the constraint matrices.
E = [1 1; 0 0];
F = [0 0; 1 1];
G = [5;10];

%%
% Specify the constraints as hard by setting |V| to zero for
% both constraints.
V = [0;0];

%%
% Set the constraints in the MPC controller.
setconstraint(MPCobj,E,F,G,V)