Model Predictive Control Toolbox

Controlling Plants Over a Range of Operating Conditions

You can use the Multiple MPC Controllers block for controlling a nonlinear Simulink plant model over a wide range of operating conditions. With this block you can design a model predictive controller for each operating point and switch between model predictive controllers at run time. The Multiple MPC Controllers block ensures bumpless control transfer from one model predictive controller to another. You can create linear plant models for controller design at each operating point either by linearizing a Simulink model with Simulink Control Design or by specifying the plant model directly.

Multiple MPC Controllers block for controlling nonlinear models over a wide operating range using multiple model predictive controllers with bumpless control transfer.
Multiple MPC Controllers block (red) for controlling nonlinear models over a wide operating range using multiple model predictive controllers with bumpless control transfer. With this block you can design a model predictive controller for each operating point and switch between model predictive controllers at run time.
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Diseño de sistemas de control multivariable para robótica

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