smpcgain, smpcpole (Model Predicitve 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:

which contains ny rows, corresponding to each of the outputs in 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.