generatePlotParameters
Parameters for plotSection
Description
creates
a structure of parameters for a 2-D sectional plot of the explicit
MPC control law of the explicit MPC controller, plotParams
= generatePlotParameters(empcobj
)empcobj
.
You set the fields of this structure and use it to generate the plot
using the plotSection
command.
Examples
Specify Fixed Parameters for 2-D Plot of Explicit Control Law
Define a double integrator plant model and create a traditional implicit MPC controller for this plant. Constrain the manipulated variable to have an absolute value less than 1
.
plant = tf(1,[1 0 0]); mpcobj = mpc(plant,0.1,10,3);
-->"Weights.ManipulatedVariables" is empty. Assuming default 0.00000. -->"Weights.ManipulatedVariablesRate" is empty. Assuming default 0.10000. -->"Weights.OutputVariables" is empty. Assuming default 1.00000.
mpcobj.MV = struct('Min',-1,'Max',1);
Define the parameter bounds for generating an explicit MPC controller.
range = generateExplicitRange(mpcobj);
-->Converting the "Model.Plant" property to state-space. -->Converting model to discrete time. Assuming no disturbance added to measured output #1. -->"Model.Noise" is empty. Assuming white noise on each measured output.
range.State.Min(:) = [-4;-4]; range.State.Max(:) = [ 4; 4]; range.Reference.Min(:) = -2; range.Reference.Max(:) = 2; range.ManipulatedVariable.Min(:) = -1.1; range.ManipulatedVariable.Max(:) = 1.1;
Create an explicit MPC controller.
empcobj = generateExplicitMPC(mpcobj,range);
Regions found / unexplored: 19/ 0
Create a default plot parameter structure, which specifies that all of the controller parameters are fixed at their nominal values for plotting.
plotParams = generatePlotParameters(empcobj);
Allow the controller states to vary when creating a plot.
plotParams.State.Index = []; plotParams.State.Value = [];
Fix the manipulated variable and reference signal to 0
for plotting.
plotParams.ManipulatedVariable.Index(1) = 1; plotParams.ManipulatedVariable.Value(1) = 0; plotParams.Reference.Index(1) = 1; plotParams.Reference.Value(1) = 0;
Generate the 2-D section plot for the explicit MPC controller.
plotSection(empcobj,plotParams)
ans = Figure (1: PiecewiseAffineSectionPlot) with properties: Number: 1 Name: 'PiecewiseAffineSectionPlot' Color: [1 1 1] Position: [348 376 583 437] Units: 'pixels' Use GET to show all properties
Input Arguments
empcobj
— Explicit MPC controller
explicit MPC controller object
Explicit MPC controller for which you want to create a 2-D sectional
plot, specified as an Explicit MPC controller object. Use generateExplicitMPC
to create an explicit
MPC controller.
Output Arguments
plotParams
— Parameters for sectional plot
structure
Parameters for sectional plot of explicit MPC control law, returned as a structure.
As returned by generatePlotParameters
,
the plotParams
structure command fixes all the
control law’s parameters at their nominal values. To obtain
the desired plot, eliminate the Index
and Value
entries
of the two parameters forming the plot axes, and modify fixed values
as necessary. Then, use the plotSection
command
to display the 2-D sectional plot of the explicit control law’s
PWA regions with the remaining free parameters as the x and y axes.
The fields of the plot-parameters structure are as follows.
State
— Fixed controller states
structure
Fixed controller states, specified as a structure having an Index
field
and a Value
field. The field plotParams.State.Index
is
a vector that contains the indices of the controller states to fix
for the plot, and plotParams.State.Value
contains
the corresponding constant state values.
Modify the default value of plotParams.State
to
generate the desired plot. See Specify Fixed Parameters for 2-D Plot of Explicit Control Law.
Reference
— Fixed reference signal values
structure
Fixed reference signal values, specified as a structure having
an Index
field and a Value
field.
The field plotParams.Reference.Index
is a vector
that contains the indices of the reference signals to fix for the
plot, and plotParams.Reference.Value
contains the
corresponding constant reference signal values.
Modify the default value of plotParams.Reference
to
generate the desired plot. See Specify Fixed Parameters for 2-D Plot of Explicit Control Law.
MeasuredDisturbance
— Fixed measured disturbance values
structure
Fixed measured disturbance values, specified as a structure
having an Index
field and a Value
field.
The field plotParams.MeasuredDisturbance.Index
is
a vector that contains the indices of the measured disturbances to
fix for the plot, and plotParams.MeasuredDisturbance.Value
contains
the corresponding constant measured disturbance values.
Modify the default value of plotParams.MeasuredDisturbance
to
generate the desired plot. See Specify Fixed Parameters for 2-D Plot of Explicit Control Law.
ManipulatedVariable
— Fixed manipulated variable values
structure
Fixed manipulated variable values, specified as a structure
having an Index
field and a Value
field.
The field plotParams.ManipulatedVariable.Index
is
a vector that contains the indices of the manipulated variables to
fix for the plot, and plotParams.ManipulatedVariable.Value
contains
the corresponding constant manipulated variable values.
Modify the default value of plotParams.ManipulatedVariable
to
generate the desired plot. See Specify Fixed Parameters for 2-D Plot of Explicit Control Law.
Version History
Introduced in R2014b
See Also
Functions
generateExplicitMPC
|generateExplicitRange
|generateExplicitOptions
|simplify
|plotSection
|mpcmoveExplicit
|sim
Objects
mpc
|explicitMPC
|mpcstate
Blocks
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