MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Spécifications télécharger pdf (Page 130)

4 Designing Controllers Using the Command Line

4-20

When the switch input is 1 the block automatically activates the first controller listed

(MPC1), which is appropriate when the masses are separated. When the switch input is

2 the block automatically enables the second controller (MPC2).

The following code simulates the controller performance

Tstop=100; % Simulation time

y1initial=0; % Initial M1 and M2 Positions

y2initial=10;

open('mpc_switching');

sim('mpc_switching',Tstop);

The figure below shows the signals scope output.

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MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Spécifications Page 130