%% Multistep Matrices (H is lowertriangular) C = zeros(n_y,6); % C for control, 2 rows because only voltage is controlled C(1:n_y,3:4) = eye(2); [UpsilonT,Gamma,lSTE,W_inv,H] = MPC_Matrices_l(A,B,C,Np,lambda); %Multistep matrices %% Initialize variables Uop_ESA = zer...
MPC_Matrices.m function [E , H] = MPC_Matrices(A , B , Q, R , F , N) n=size(A,1); %A是n*n的矩阵,得到n; p=size(B,2); % B 是 n x p 矩阵, 得到 p; %%%%%%%%%%%%%%%%%%%%% M=[eye(n);zeros(N*n,n)]; % 初始化 M 矩阵. M 矩阵是 (N+1)n x n的, % ...
模型预测控制MPC(Model Predictive Control)是70年代末发展起来的新型计算机控制算法。经过多年的理论研究和应用实践,MPC在算法改进和理论分析方面都有很大发展。它的典型算法有三种:模型算法控制MAC(Model Algorithm Control),动态矩阵控制DMC(Dynamic Matrix Control)和广义预测控制GPC(Generalized Predictive Control) [1.2...
MPC_Matrices.m function [E , H]=MPC_Matrices(A,B,Q,R,F,N)n=size(A,1); % A 是 n x n 矩阵, 得到 np=size(B,2); % B 是 n x p 矩阵, 得到 pM=[eye(n);zeros(N*n,n)]; % 初始化 M 矩阵. M 矩阵是 (N+1)n x n的,% 它上面是 n x n 个 "I", 这一步先把下半...
to implement the custom7% MPC controller designed above. The constraint matrices are definedas8% Ac*x>=b0.9Ac = -[1000;...10-1000;...110100;...120-100;...130010;...1400-10;...150001;...16000-1];17b0 = -[1;1;1;1;1;1;1;1];1819%%20% The |mpcqpsolver|function requires ...
matrices 权重矩阵 Q = 1; R = 0.01; % Prediction horizon 预测范围 Tpred = 1; Np = round(Tpred / deltaT); % Constraints xlift_min = [ymin ; nan(Nlift-1,1)]; xlift_max = [ymax ; nan(Nlift-1,1)]; % Build Koopman MPC controller -- KMPC koopmanMPC = getMPC(Alift,Blift...
gallery - Several small test matrices. hadamard - Hadamard matrix. hankel - Hankel matrix. hilb - Hilbert matrix. invhilb - Inverse Hilb 11、ert matrix. magic - Magic square. pascal - Pascal matrix. toeplitz - Toeplitz matrix. vander - Vandermonde matrix.2. 符号运算工具箱 主要功能以符号为...
1 一、工具箱简介 功能型工具箱——通用型 功能型工具箱主要用来扩充MATLAB的数值计算、符号运算功能、图形建模仿真功能、文字处理功能以及与硬件实时交互功能，能够用于多种学科。2019/6/6 2 领域型工具箱——专用型 领域型工具箱是学科专用工具箱，其专业性很强，比如控制系统工具箱（ControlSystemToolbox）...
19、ds.matlabops一 Operators and special characters.matlablang一 Programming language constructs.matlabelmat一 Elementary matrices and matrixmanipulation.matlabelfun一 Elementary math functions.matlabspecfun一 Specialized math functions.matlabmatfun一 Matrix functions 一 numerical linearalgebramatlabdatafun Da 20...
(x86)\MATLAB\R2018a\toolbox\bioinfo\biomatrices E:\Program Files (x86)\MATLAB\R2018a\toolbox\bioinfo\graphtheory E:\Program Files (x86)\MATLAB\R2018a\toolbox\bioinfo\bioinfodata E:\Program Files (x86)\MATLAB\R2018a\toolbox\bioinfo\biodemos E:\Program Files (x86)\MATLAB\R2018a\tool...