createParameterBus

Create a nonlinear MPC controller with four states, two outputs, and one input.

nlobj = nlmpc(4,2,1);

Zero weights are applied to one or more OVs because there are fewer MVs than OVs.

Specify the sample time and horizons of the controller.

Ts = 0.1;
nlobj.Ts = Ts;
nlobj.PredictionHorizon = 10;
nlobj.ControlHorizon = 5;

Specify the state function for the controller, which is in the file pendulumDT0.m. This discrete-time model integrates the continuous-time model defined in pendulumCT0.m using a multistep forward Euler method.

nlobj.Model.StateFcn = "pendulumDT0";
nlobj.Model.IsContinuousTime = false;

The prediction model uses an optional parameter, Ts, to represent the sample time. Specify the number of parameters.

nlobj.Model.NumberOfParameters = 1;

Specify the output function of the model, passing the sample-time parameter as an input argument.

nlobj.Model.OutputFcn = @(x,u,Ts) [x(1); x(3)];

Define standard constraints for the controller.

nlobj.Weights.OutputVariables = [3 3];
nlobj.Weights.ManipulatedVariablesRate = 0.1;
nlobj.OV(1).Min = -10;
nlobj.OV(1).Max = 10;
nlobj.MV.Min = -100;
nlobj.MV.Max = 100;

Open the Simulink® model.

mdl = 'mpc_pendcartNMPC';
open_system(mdl)

In this model, the Nonlinear MPC Controller block is configured to use the controller nlobj.

To use the optional parameter in the prediction model, the model has a Simulink Bus block connected to the params input port of the Nonlinear MPC Controller block. To configure this bus block to use the Ts parameter, create a Bus object in the MATLAB® workspace, and configure the Bus Creator block to use this object. Name the Bus object 'myBusObject'.

createParameterBus(nlobj,[mdl '/Nonlinear MPC Controller'],'myBusObject',{Ts});

Simulink Bus object "myBusObject" created in the MATLAB Workspace.
Bus Creator block "mpc_pendcartNMPC/Nonlinear MPC Controller" is configured to use it.