gpc.rar_gpc_gpc matlab code_gpc代码_广义预测_预测控制

%分散广义预测控制（C=1）（对象参数已知） clear all; clc; close all; %---------------参数设置---------------------- num=1;den=[10,1];L=20; Ts=10; [A,B,d]=tf2AB(num,den,L,Ts) [na,nb]=rankn(A,B); N=5; Nu=2; lambda=0.5*eye(Nu); deta=1; alpha=0.2; A1=conv(A,[1 -1]);naa=na+1; [E,F]=diophantine(A,N,d); G=getGij(B,E); [Gk,Gpk,Gku]=getG(G,Nu) %------------------------------------------- tend=100; uk=zeros(d+nb+1,1); duk=zeros(d+nb+1,1); yk=zeros(naa,1); w=ones(tend+d+N,1); for k=1:tend time(k)=k*Ts; y(k)=-A1(2:naa+1)*yk+B*duk(d+1:nb+d+1); Yk=[y(k); yk(1:na)]; dUk=duk(1:d+nb); %----------参考轨迹------------- r=filter((1-alpha),[1 -alpha],w); Yr=zeros(N,1); Yr=[r(k+d+1:k+d+N)]; %-----------求控制量----------- dU=inv(Gku'*Gku+lambda)*Gku'*(Yr-Gpk*dUk-F*Yk); du(k)=dU(1); u(k)=uk(1)+du(k); %----------更新数据------------ for i=1+d+nb:-1:2 uk(i)=uk(i-1); duk(i)=duk(i-1); end uk(1)=u(k); duk(1)=du(k); for i=naa:-1:2 yk(i)=yk(i-1); end yk(1)=y(k); end %-------------绘图-------------------- subplot(2,1,1); plot(time(1:tend),w(1:tend),'r:',time(1:tend),y(1:tend)); grid on; xlabel('time(s)'); ylabel('w,y'); axis([0,tend*Ts,0,1.2]); legend('w','y'); title('generalized predictive control'); subplot(2,1,2); plot(time,u); grid on; xlabel('time(s)'); ylabel('u'); axis([0,tend*Ts,-0.1,1.5]); legend('u'); title('Control action');