1. Under supervision of: Dr S.K. Hosseini S.
MPC in
Under supervision of:
Dr S.K. Hosseini S.
By:
S.H. Edjtahed
M.G. Farajzadeh D.

2. MPC in MATLAB: MATLAB MPC Toolbox (Morari) IMPACT Toolbox (Camacho)
MPCTools (Akesson)
BLOM (Berkeley Lib. for Optimization MPC)
MPT (Multi Parametric Toolbox)
jMPC (Jonathan Currie)

3. SOSTOOLS Toolbox (caltech) YALMIP Toolbox (Camacho)
CVX Toolbox (Johan Löfberg)
MATLAB LMI Toolbox (Gahinet et al)
MPC in LabView (Telemark University College)
MPC with MATLAB (a Book by Wang)

4. Case Study introduction MPC in GUI (mpctool) MPC in Command Line
MATLAB MPC Toolbox
Overview:
MPC Modeling in MATLAB
Case Study introduction
MPC in GUI (mpctool)
MPC in Command Line
MPC in Simulink

5. MATLAB MPC Toolbox
1. MPC Modeling

6. 1. MPC Modeling: Plant Model
MATLAB MPC Toolbox
1. MPC Modeling: Plant Model

7. 1. MPC Modeling: Plant Model
MATLAB MPC Toolbox
1. MPC Modeling: Plant Model
The MPC controller performs all the estimation and optimization calculations using a:
discrete-time,
delay-free,
state-space system,
with dimensionless input and output variables.

8. 1. MPC Modeling: Plant Model
MATLAB MPC Toolbox
1. MPC Modeling: Plant Model

9. 1. MPC Modeling: Plant Model
MATLAB MPC Toolbox
1. MPC Modeling: Plant Model

10. 1. MPC Modeling: LTI Object property
MATLAB MPC Toolbox
1. MPC Modeling: LTI Object property

11. 1. MPC Modeling: MIMO Plants
MATLAB MPC Toolbox
1. MPC Modeling: MIMO Plants

12. 2. Case Study introduction: Servo Mechanism
MATLAB MPC Toolbox
2. Case Study introduction:
Servo Mechanism

13. MATLAB MPC Toolbox
2. Case Study :Modeling

14. 2. Case Study :Plant Definition
MATLAB MPC Toolbox
2. Case Study :Plant Definition

15. 2. Case Study :Plant Definition
MATLAB MPC Toolbox
2. Case Study :Plant Definition

16. MATLAB MPC Toolbox
3. MPC in GUI (mpctool)
>> mpctool

17. 3. MPC in GUI (mpctool): Specifying signal properties
MATLAB MPC Toolbox
3. MPC in GUI (mpctool): Specifying signal properties

18. 3. MPC in GUI (mpctool): Specifying controller properties
MATLAB MPC Toolbox
3. MPC in GUI (mpctool): Specifying controller properties

19. 3. MPC in GUI (mpctool): Specifying controller properties
MATLAB MPC Toolbox
3. MPC in GUI (mpctool): Specifying controller properties

20. 3. MPC in GUI (mpctool): Specifying controller properties
MATLAB MPC Toolbox
3. MPC in GUI (mpctool): Specifying controller properties

21. 3. MPC in GUI (mpctool): Specifying scenario
MATLAB MPC Toolbox
3. MPC in GUI (mpctool): Specifying scenario

22. 3. MPC in GUI (mpctool): Simulation results
MATLAB MPC Toolbox
3. MPC in GUI (mpctool): Simulation results

23. 3. MPC in GUI (mpctool): Correcting controller properties
MATLAB MPC Toolbox
3. MPC in GUI (mpctool): Correcting controller properties

24. 3. MPC in GUI (mpctool): Simulation results
MATLAB MPC Toolbox
3. MPC in GUI (mpctool): Simulation results

25. 4. MPC in Command Line Steps: Defining the Plant Model MPC commands
MATLAB MPC Toolbox
4. MPC in Command Line
Steps:
Defining the Plant Model
MPC commands
Constructing an MPC Object
Setting, Getting, and Displaying Object Properties
Running a Simulation
Plotting the results

26. 4. MPC in Command Line 4.1. Defining the Plant Model:
MATLAB MPC Toolbox
4. MPC in Command Line
4.1. Defining the Plant Model:
Defining Parameters
Defining Sys model

27. 4. MPC in Command Line 4.2. MPC commands:
MATLAB MPC Toolbox
4. MPC in Command Line
4.2. MPC commands:
4.3. Constructing an MPC Object

28. MATLAB MPC Toolbox
4. MPC in Command Line
4.4. Setting, Getting, and Displaying Object Properties

29. 4. MPC in Command Line 4.5. Running a Simulation
MATLAB MPC Toolbox
4. MPC in Command Line
4.5. Running a Simulation
4.6. Plotting the results

30. MATLAB MPC Toolbox
5. MPC in Simulink

31. MATLAB MPC Toolbox
5. MPC in Simulink

32. MATLAB MPC Toolbox
5. MPC in Simulink

33. Integrated Multiple Predictive Algorithm Control Tool
The controllers implemented under IMPACT:
GPC (Generalized Predictive Control)
SPGPC (GPC with Smith Predictor)
DMC (Dynamic Matrix Control)
PFC (Predictive Functional Control)
SSMPC (State Space Model Predictive Control)

34. Containing (Systems + Experiments):
All Simulation Examples of the Book
All exercise corresponding to the chapters of the book MPC.
You can add your own!
All Simulation Results is available here in FUMBlog:
add the path of IMPACT directory into the Matlab path in order to run IMPACT correctly. Type in Command window of MATLAB: >> impact

35. For MIMO systems select the: system to simulate controller to be used parameters of MPC set: duration reference to reach constraints noise disturbances result: outputs , U , DU

36. The interface is divided in three different parts:
SYSTEM: This part loads the system file to be simulated, changes its properties (matrices) and saves a system created by the user in a file.
CONTROLLER: It sets the kind of MPC controller to be used, and allows changing the specific tuning parameters, such as horizons or weighting matrices.
EXPERIMENT: It establishes the main features of the simulation: time, reference parameters, constraints, noises, disturbances and graphics to be showed

37. The following forms of modelling a system are accepted by IMPACT.
1. Carima Model.
A and B model the system, and the delay factor (z-d) have been integrated in B.
2. Step Response Model (DMC)
The variable gninputs contains the inputs of the system
3. Space State Model
the variables Mm, Nm and Qm.(PFC and SSMPC)
Error Modelling:
Ap,Bp for the CARIMA--- gp for the Step response--- Mp, Np and Qp for State Space
sinfo:General information about the system in a cell array
2 variables for reference: Constant: vrefc Variable: vrefv

39. Linear Matrix Inequality in MATLAB
>> lmidem

40. For all 3 Solvers:
Input: an LMI system
Output: x* (decision variable)

44. >> lmiedit

45. Solving LMI:

47. See Problem Definition at FUMblog: http://ejtahed.fumblog.um.ac.ir

48. umax=2
Q1=[1 0; 0 0]
B1=B2=[ *0.787]’ Y Q

49. An useful MATLAB function for Designing RMPC With LMI
Available at FUMblog:

50. A useful function for Designing CGPC with MATLAB

51. A useful function for Designing CGPC with MATLAB
Available at FUMblog:

52. MPC in LabView

53. All Thing is Available at: http://ejtahed.fumblog.um.ac.ir

54. References: http://www.mathworks.com/