Hi Marco,
To set up NMPC controllers for different plants encapsulated within MATLAB classes, you can try these steps:
1) Create a class for each plant that includes properties (such as the plant's state) and methods (like the dynamics of the plant).
2) Within each plant's class, implement a method to configure the NMPC controller. This method will act as a bridge, allowing the NMPC to access the plant's properties and methods. Specifically, you'll need to:
- Define a wrapper function for the plant's dynamics that can be used as the NMPC's prediction model.
- Optionally, define a wrapper for the cost function if your NMPC uses a custom cost function.
3) Create an instance of each plant class and call the method to set up its NMPC controller.
This integrates object-oriented programming with MATLAB's NMPC framework, enabling each NMPC controller to interact with its respective plant object, accessing necessary properties and methods for prediction and cost computation.
