How do you specify the reference positions for a multi output system?

I know this may be a very simple question, however I am not sure if what I am doing is right since the MPC I have implemented is not yet successful. How do you specify the reference outputs for a multi-output system in the ref port on the MPC controller block? All the examples I have looked at/been able to find are when there is only a single output, so simply a constant sufficed, or when the reference is a trajectory needs to be followed, none when the outputs both need to tend towards some constant value.

Answer 1

[Balavignesh]

Hi Shirahn,

As per my understanding, you would like to specify the reference positions for a multi output system in 'ref' port of the Model Predictive Control (MPC) controller block in Simulink.

I would suggest you define the reference signals for each output of the multi-output system, and create a structure to hold reference signals for each output.

In the MPC Controller block, you could connect the reference structure to the 'ref' port of the 'MPC controller block' in Simulink.

Kindly refer to the following documentation links to get more infromation on:

• 'mpc' controller block: https://www.mathworks.com/help/mpc/ref/mpc.html
• 'structure' datatype: https://in.mathworks.com/help/matlab/ref/struct.html#:~:text=Create%20a%20nonscalar%20structure%20that%20contains%20several%20fields.

Hope that helps!

Balavignesh.