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Discretization or resampling — If the model sample time differs from the MPC controller sample time defined in the Ts property , one of the following occurs:. If the model is continuous time, the c2d command converts it to a discrete-time LTI object using the controller sample time. If the model is discrete time, the d2d command resamples it to generate a discrete-time LTI object using the controller sample time. Conversion to dimensionless input and output variables — The MPC controller enables you to specify a scale factor for each plant input and output variable.
If you do not specify scale factors, they default to 1. The software converts the plant input and output variables to dimensionless form as follows:. S i is a diagonal matrix of input scale factors in engineering units. S o is a diagonal matrix of output scale factors in engineering units.
No scaling is performed on state variables. Finally, u k , v k , and d k are the dimensionless manipulated variables, measured disturbances, and unmeasured input disturbances, respectively. If your plant model includes unmeasured input disturbances, d k , the input disturbance model specifies the signal type and characteristics of d k. See Controller State Estimation for more information about the model. The getindist command provides access to the model in use.
The input disturbance model is a key factor that influences the following controller performance attributes:. Dynamic response to apparent disturbances — The character of the controller response when the measured plant output deviates from its predicted trajectory, due to an unknown disturbance or modeling error. Asymptotic rejection of sustained disturbances — If the disturbance model predicts a sustained disturbance, controller adjustments continue until the plant output returns to its desired trajectory, emulating a classical integral feedback controller.
You can provide the input disturbance model as an LTI state-space ss , transfer function tf , or zero-pole-gain zpk object using setindist. The MPC controller converts the input disturbance model to a discrete-time, delay-free, LTI state-space system using the same steps used to convert the plant model. The result is:. If you do not provide an input disturbance model, then the controller uses a default model, which has integrators with dimensionless unity gain added to its outputs.
An integrator is added for each unmeasured input disturbance, unless doing so would cause a violation of state observability. In this case, a static system with dimensionless unity gain is used instead. The output disturbance model is a special case of the more general input disturbance model. Its output, y od k , is directly added to the plant output rather than affecting the plant states.
The output disturbance model specifies the signal type and characteristics of y od k , and it is often used in practice. See Controller State Estimation for more details about the model. The getoutdist command provides access to the output disturbance model in use. You can specify a custom output disturbance model as an LTI state-space ss , transfer function tf , or zero-pole-gain zpk object using setoutdist.
Using the same steps as for the plant model , the MPC controller converts the specified output disturbance model to a discrete-time, delay-free, LTI state-space system. If you do not specify an output disturbance model, then the controller uses a default model, which has integrators with dimensionless unity gain added to some or all of its outputs.
These integrators are added according to the following rules:. No disturbances are estimated, that is no integrators are added, for unmeasured plant outputs. It should however be noted that if the model contains a new component or if the functionality of a component has been changed this method will not work.
Stack Overflow for Teams — Start collaborating and sharing organizational knowledge. Create a free Team Why Teams? Learn more. Asked 6 years, 6 months ago. Modified 3 years, 3 months ago. Viewed 14k times. How can i open it without asking him to save in an older format? Community Bot 1 1 1 silver badge. Sigurd V Sigurd V 5, 4 4 gold badges 17 17 silver badges 26 26 bronze badges.
Add a comment. Sorted by: Reset to default. Highest score default Date modified newest first Date created oldest first. It was actaully quite simple. I opened the. It is not always enough. If there is a component that comes with the newer version, you cannot open the mdl properly. You are absolutely right. Ill put that in the answer as well — Sigurd V. Note that this way of migration may cause parameters to be lost, changing the model behaviour. The best solution is to ask the person who sent the model to use the "save as" and save it in the right version: uk.
Of course, if he or she is using functionality that is not in the version the model is being saved as, he or she will get an error message when doing so. May I ask, which.
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