MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Dokumentacja Pobierz pdf (Strona 131)

Control Based On Multiple Plant Models

4-21

In the upper plot, the cyan curve is the desired position. It starts at –5. The M

position

(yellow) starts at 0 and under the control of MPC1, M

moves rapidly toward the desired

position. M

(magenta) starts at 10 and begins moving in the same direction. At about t =

13 seconds, M

collides with M

. The switching signal (lower plot) changes at this instant

from 1 to 2, so controller MPC2 has taken over.

The collision moves M

away from its desired position and M

remains joined to M

Controller MPC2 adjusts the applied force (middle plot) so M

quickly returns to the

desired position.

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MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Dokumentacja Strona 131