adaptive model predictive control
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In the following link (or above picture) in the controlled system, why are the initial inputs and outputs are subtracted from system inputs/outputs and the resulting signals then delayed? I have indicated these parts in a red rectangle.
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Arkadiy Turevskiy
2015-5-18
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The intitial values are substracted to remove the offset from the data. The delay block resamples continuous signals coming from the plant model, as the estimator requires discrete-time signals sampled at Ts. You could use Rate Transition block instead.
Hope this helps.
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E U
2015-5-19
Thanks Arkadiy for your answer. Still, I wonder the question that I asked in the attached picture. I will be happy for your feedback on my question.
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