Convert unconstrained MPC controller to zero/pole/gain form
Use the Model Predictive Control Toolbox™
zpk function to convert an unconstrained MPC controller to zero/pole/gain
mpc for background). The returned controller is
equivalent to the original MPC controller
MPCobj when no constraints are
active. You can then use Control System Toolbox™ software for sensitivity analysis and other diagnostic
Convert Unconstrained MPC Controller to Zero/Pole/Gain Form
Create a plant, a corresponding MPC object, and convert it to zero/pole/gain form.
mpcverbosity off; % turn off mpc messaging plant=tf(1,[1 1],0.2); % create plant (0.2 seconds sampling time) mpcobj=mpc(plant,0.2); % create mpc object (0.2 second sampling time) kzpk=zpk(mpcobj) % convert to zpk form show the controller's poles and zeroes kzpk = From input "MO1" to output "MV1": 0.45205 z^2 (z-1.5) ----------------------------- (z-1) (z-0.02575) (z+0.02485) Sample time: 0.2 seconds Discrete-time zero/pole/gain model.
The poles are all inside the unit circle, except the one in
The position of this pole , which is due to the fact that the default noise model is an
integrator, causes the controller static gain to approach infinity, in turn allowing
near perfect tracking of the output reference signal.