MPC无约束.zip_无模型_无约束MPC_模型预测_模型预测控制_预测控制

load step_model; %------参数初始化-------% yw=[10 0]; %输出误差加权矩阵 uw=1; %控制量加权矩阵 M=5; %控制时域 r=[1 0]; %设定值 tend=150; %仿真时间 model=plant; %------控制时域对系统影响-------% P=5; Kmpc=mpccon(model,yw,uw,M,P);%求解无约束MPC增益阵 [y1,u1]=mpcsim(plant,model,Kmpc,tend,r);%仿真闭环曲线 P=10; Kmpc=mpccon(model,yw,uw,M,P); [y2,u2]=mpcsim(plant,model,Kmpc,tend,r); P=20; Kmpc=mpccon(model,yw,uw,M,P); [y3,u3]=mpcsim(plant,model,Kmpc,tend,r); P=30; Kmpc=mpccon(model,yw,uw,M,P); [y4,u4]=mpcsim(plant,model,Kmpc,tend,r); figure(1); %绘制闭环输出曲线% subplot(2,2,1); plot(0:Ts:tend,y1(:,1)); hold on; plot(0:Ts:tend,y1(:,2),'r'); grid on; xlabel('time(s)'); legend('y1','y2'); title('Output P=5'); %绘制控制输入曲线% subplot(2,2,2); plot(0:Ts:tend,u1); grid on; legend('u'); xlabel('time(s)'); title('Manipulated Variables'); %绘制闭环输出曲线% subplot(2,2,3); plot(0:Ts:tend,y2(:,1)); hold on; plot(0:Ts:tend,y2(:,2),'r'); grid on; xlabel('time(s)'); legend('y1','y2'); title('Output P=10'); axis([0 50 -5 2]); %绘制控制输入曲线% subplot(2,2,4); plot(0:Ts:tend,u2); grid on; legend('u'); xlabel('time(s)'); title('Manipulated Variables'); figure(2); %绘制闭环输出曲线% subplot(2,2,1); plot(0:Ts:tend,y3(:,1)); hold on; plot(0:Ts:tend,y3(:,2),'r'); grid on; xlabel('time(s)'); legend('y1','y2'); title('Output P=20'); axis([0 50 -5 2]); %绘制控制输入曲线% subplot(2,2,2); plot(0:Ts:tend,u3); grid on; legend('u'); xlabel('time(s)'); title('Manipulated Variables'); %绘制闭环输出曲线% subplot(2,2,3); plot(0:Ts:tend,y4(:,1)); hold on; plot(0:Ts:tend,y4(:,2),'r'); grid on; xlabel('time(s)'); legend('y1','y2'); title('Output P=30'); axis([0 50 -5 2]); %绘制控制输入曲线% subplot(2,2,4); plot(0:Ts:tend,u4); grid on; legend('u'); xlabel('time(s)'); title('Manipulated Variables');