| Model Predictive Control Toolbox | |
Calculates steady-state gain matrix or poles for a system in the MPC mod format.
Syntax
g =smpcgain(mod) poles =smpcpole(mod)
Description
mod is a dynamic model in the MPC mod format. smpcgain and smpcpole convert it to its equivalent state-space form:
x(k + 1) = 
x(k) + 
v (k)
y(k) = Cx(k) + Dv(k)
where 
includes all of the inputs in mod. smpcgain then calculates the gain matrix:
)1 + D
mod, and nu + nd + nw columns, corresponding to each of the inputs.
smpcpole calculates the poles, i.e., the eigenvalues of the matrix.
Example
See smpccl for an example of the use of smpcpole.
Restriction
If mod is not asymptotically stable, smpcgain terminates with an error message.
| smpcest | smpcsim | |