预测控制相关matlab算法

function varargout = GPC(varargin) % GPC M-file for GPC.fig % GPC, by itself, creates a new GPC or raises the existing % singleton*. % % H = GPC returns the handle to a new GPC or the handle to % the existing singleton*. % % GPC('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in GPC.M with the given input arguments. % % GPC('Property','Value',...) creates a new GPC or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before GPC_OpeningFunction gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to GPC_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help GPC % Last Modified by GUIDE v2.5 15-Dec-2005 15:29:52 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @GPC_OpeningFcn, ... 'gui_OutputFcn', @GPC_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); if nargin & isstr(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end if nargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT % --- Executes just before GPC is made visible. function GPC_OpeningFcn(hObject, eventdata, handles, varargin) % This function has no output args, see OutputFcn. % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % varargin command line arguments to GPC (see VARARGIN) % Choose default command line output for GPC handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes GPC wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = GPC_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT); % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Get default command line output from handles structure varargout{1} = handles.output; % -------------------------------------------------------------------- function project_Callback(hObject, eventdata, handles) % hObject handle to project (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % -------------------------------------------------------------------- function begin_Callback(hObject, eventdata, handles) % hObject handle to begin (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) global yr; global n; N=str2num(get(handles.N,'String')); Nu=str2num(get(handles.Nu,'String')); r=str2num(get(handles.r,'String')); a=str2num(get(handles.a,'String')); y0=str2num(get(handles.y0,'String')); u0=str2num(get(handles.u0,'String')); A=str2num(get(handles.modelA,'String')); B=str2num(get(handles.modelB,'String')); O=[1,-1]; En=zeros(1,N); F=zeros(N,length(A)); Aa=conv(A,O); En(1)=1; k=zeros(size(Aa)); k(1)=1; L=k-Aa; F(1,:)=L(2:end); for j=1:N-1 En(j+1)=F(j,1); L=[F(j,:),0]-En(j+1).*Aa; F(j+1,:)=L(2:end); end E=cell(1,N); for i=1:1:N E{i}=En(1:i); end H=cell(1,N); G=cell(1,N); for j=1:N Gl=conv(E{j},B); G{j}=Gl(1:j); H{j}=Gl(j+1:end); end G1=zeros(N,Nu); for i=1:N if i<Nu G1(i,i:-1:1)=G{N}(1:i); end if i>Nu G1(i,1:Nu)=G{N}(i:-1:i-Nu+1); end end Al=(-1).*A(2:end); y=zeros(1,n); u=zeros(1,n); yd=zeros(N,1); yo=zeros(N,1); Y=zeros(length(A)-1,1); U=zeros(length(B),1); for i=1:(length(A)-1) Y(i,1)=y0(i); end for i=1:length(B) U(i,1)=u0(i); end for k=1:n y(k)=Al*Y+B*U; yd(1)=a*y(k)+(1-a)*yr(k); for j=2:N yd(j)=a*yd(j-1)+(1-a)*yr(k); end Yt=[y(k);Y]; for j=1:N yo(j)=F(j,:)*Yt+conv(O,H{j})*U; end I=eye(Nu); tmp=inv(G1'*G1+r.*I)*G1'*(yd-yo); u(k)=U(1)+tmp(1); for j=length(A)-1:-1:2 Y(j,1)=Y(j-1); end Y(1,1)=y(k); for j=length(B):-1:2 U(j,1)=U(j-1); end U(1,1)=u(k); end k=1:n; axes(handles.axesy); plot(k,yr(k),k,y(k)); axes(handles.axesu); plot(k,u(k)); % -------------------------------------------------------------------- function exit_Callback(hObject, eventdata, handles) % hObject handle to exit (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) close; % -------------------------------------------------------------------- function help_Callback(hObject, eventdata, handles) % hObject handle to help (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % --- Executes during object creation, after setting all properties. function yrmenu_CreateFcn(hObject, eventdata, handles) % hObject handle to yrmenu (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: popupmenu controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc set(hObject,'BackgroundColor','white'); else set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor')); end % --- Executes on selection change in yrmenu. function yrmenu_Callback(hObject, eventdata, handles) % hObject handle to yrmenu (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: contents = get(hObject,'String') returns yrmenu contents as cell array % contents{get(hObject,'Value')} returns selected item from yrmenu global yr; global n; val = get(hObject,'Value'); switch val case 2 prompt={'请输入阶跃信号设定值：','请输入运行步数：'}; title='设定曲线'; def={'10','200'}; answer=inputdlg(prompt,title,1,def); stan=str2num(answer{1}); n=str2num(answer{2}); yr=zeros(1,n); for i=1:n yr(i)=stan; end case 3 prompt={'请输入正弦函数的幅值：','请输入正弦函数的周期：','请输入运行步数：'}; title='正弦函数输入框'; def={'10','40','200'}; answer=inputdlg(prompt,title,1,def); a=str2num(answer{1}); b=str2num(answer{2}); n=str2num(answer{3}); for t=1:n yr(t)=a*sin(2*3.14*t/b); end case 4 prompt={'请输入方波函数的最大幅值：','请输入方波函数的最小幅值：','请输入方波函数的周期：','请输入运行步数：'}; title='方波函数输入框'; def={'5','5','40','200'}; answer=inputdlg(prompt,title,1,def); amax=str2num(answer{1}); amin=str2num(answer{2}); b=str2num(answer{3}); n=str2num(answer{4}); for m=0:n/b for k=1:b/2 yr(m*b+k)=amax; end for k=b/2:b yr(m*b+k)=-1*amin; end end end; % The user selected the second item % etc. % k=1:100; % axes(handles.axesy); % plot(k,yr(k)); % --- Executes during object creation, after setting all properties. function modelA_CreateFcn(hObject, eventdata, handles) % hObject handle to modelA (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - hand