www.gusucode.com > mpc 案例源码 matlab代码程序 > mpc/SpecifyTerminalConstraintsForFinalPredictionHorizonRangeExample.m
%% Specify Terminal Constraints For Final Prediction Horizon Range %% % Create an MPC controller for a plant with three output variables and two % manipulated variables. plant = rss(3,3,2); plant.D = 0; MPCobj = mpc(plant,0.1); %% % Specify a prediction horizon of |10|. MPCobj.PredictionHorizon = 10; %% % Define the following terminal constraints: %% % * Lower bounds of |0| and |-1| on the first and third outputs respectively % * Upper bound of |2| on the second output % * Lower bound of |1| on the first manipulated variable Y = struct('Min',[0,-Inf,-1],'Max',[Inf,2,Inf]); U = struct('Min',[1,-Inf]); %% % Specify the constraints beginning at step |5| and ending at the last step % of the prediction horizon. setterminal(MPCobj,Y,U,5)