学习随笔#15 MPC控制MATLAB代码详解

  MPC控制的详细数学推导可以参照文章：一个MPC详细建模的例子。MATLAB/SIMULINK中自带有MPC相关的工具，但本文给出MPC控制的MATLAB程序。

function [M, C, Q_bar, R_bar, G, E, H, U_k] = MPC_Zero_Ref(A, B, N, x_k, Q, R, F)

n = size(A, 1);
p = size(B, 2);
M = [eye(n); zeros(N * n, n)];

C = zeros((N + 1) * n, N * p);

mp = eye(n);
for i = 1 : N
	rows = i * n + (1 : n);
	C(rows, :) = [ tmp * B, C(rows - n, 1 : end - p)];
	tmp = A * tmp;
	M(rows, :) = tmp;
end

S_q = size(Q, 1);
S_r = size(R, 1);
Q_bar = zeros((N + 1) * S_q, (N + 1) * S_q);
for i = 0 : N
	Q_bar(i * S_q + 1 : (i + 1) * S_q, i * S_q + 1 : (i + 1) * S_q) = Q;
end
Q_bar (N * S_q + 1 : (N + 1) * S_q, N * S_q + 1 : (N + 1) * S_q) = F;

R_bar = zeros(N * S_r, N * S_r);
for i = 0 : N - 1
	R_bar(i * S_r + 1 : (i + 1) * S_r, i * S_r + 1 : (i + 1) * S_r)	= R;
end

G = M' * Q_bar * M;
E = C' * Q_bar * M;
H = C' * Q_bar * C + R_bar;

f = (x_k' * E')';
U_k = quadprog(H, f);
end