d2d

Change sampling time of an MPC controller

Syntax

newmpc = d2d(mpcobj,newTs)

Description

Use the Model Predictive Control Toolbox™ d2d function to change the sampling time of an MPC controller (see mpc for background).

To resample a generic discrete-time LTI dynamical system instead, see d2d.

newmpc = d2d(mpcobj,newTs) returns the controller newmpc, which is identical to mpcobj except for the new sample time newTs. This is equivalent to coying mpcobj in a new object newmpc and assigning a new sample using either newmpc.Ts=newTs or set(newmpc,'Ts',newTs). All models in newmpc are sampled or resampled when the QP matrices must be computed, for example when sim or mpcmove are called.

Examples

Change sampling time of MPC controller

Create a plant, a corresponding MPC object, and create a new controller with a different sampling time.

mpcverbosity off;                           % turn off mpc messaging
plant=tf(1,[1 1]);                          % create plant (note the steady state gain)
mpcobj=mpc(plant,1);                        % create mpc object (1 second sampling time)

newmpc=d2d(mpcobj,0.2);                     % change sampling time to 0.2 seconds
newmpc.Ts
ans =
    0.2000

newmpc.Ts=1;                                % change sampling time back to 1 second
compare(newmpc,mpcobj)                      % compare the two controllers
ans =
  logical
   1

Input Arguments

mpcobj — Model predictive controller

mpc object

Model predictive controller, specified as an MPC controller object. To create an MPC controller, use mpc.

newTs — Sampling Time

positive scalar

This is the new sampling time for the returned, resampled, MPC controller mpcobjTs.

Example: 0.2

Output Arguments

newmpc — MPC controller with the new sampling time

mpc object

This is the returned MPC controller, which is identical to mpcobj except for the fact that its sampling time is now newTs. The internal models of newmpc are sampled or resampled when the QP matrices must be computed for the MPC optimization problem to be solved.(for example when sim or mpcmove are called).

Version History

Introduced before R2006a