第7章模型预测控制4MIMOExample.pptVIP

动态矩阵控制---可测测量干扰 % Lets say we know that output measurements are affected by a sinusoidal % measurement noise of frequency 0.1 Hz. We want to inform the MPC object % about this so that state estimates can be improved omega=2*pi/10; MPCobj.Model.Noise=0.5*tf(omega^2,[1 0 omega^2]); %% % We also revised the MPC design MPCobj.Model.Disturbance=.1; % Model for unmeasured disturbance = white Gaussian noise with zero mean and variance 0.01 MPCobj.weights=struct(MV,0,MVRate,0.1,OV,.005); MPCobj.predictionhorizon=40; MPCobj.controlhorizon=3; 动态矩阵控制---可测测量干扰 备注-前1： sys=ss(tf({1