【Matlab原始碼】基於管道的魯棒模型預測控制
這個知識庫包括管道模型預測控制（tube MPC）[1]以及用MATLAB編寫的通用模型預測控制（MPC）的示例。
This code includes examples for the tube model predictive control (tube-MPC)[1] as well as the generic model predictive control (MPC) written in MATLAB.
Requirement
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optimization_toolbox (matlab)
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control_toolbox (matlab)
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Multi-Parametric Toolbox 3
(open-source and freely available athttp://people.ee.ethz.ch/~mpt/3/)
Usage
Seeexample/example_tubeMPC.mandexample/example_MPC.mfor the tube-MPC and generic MPC, respectively. Note that every inequality constraint here is expressed as a convex set. For example, the constraints on the stateXcis specified as a rectangular, which is constructed with 4 vertexes. When considering a 1-dim inputUc
Ucwill be specified by min and max value (i.e.u∊[u_min, u_max]), so it will be constructed by 2 vertexes. For more detail, please see the example codes.
參考文獻：
[1] Mayne, David Q., María M. Seron, and S. V. Raković. "Robust model predictive control of constrained linear systems with bounded disturbances
[2] Rakovic, Sasa V., et al. "Invariant approximations of the minimal robust positively invariant set." IEEE Transactions on Automatic Control 50.3 (2005): 406-410.
[3] Kouvaritakis, Basil, and Mark Cannon. "Model predictive control." Switzerland: Springer International Publishing (2016).