%%~~~~~~~~~~MPC_Test.m~~~~~~~~~~

%稍微改了一點，可以簡單實現(xiàn)目標函數(shù)跟蹤

clc

clear

close all

A = [1 0.1; -1 2];

n = size(A,1);

B = [0.2?1; 0.5 2];

p = size(B,2);

%權(quán)重系數(shù)

Q = [1 0; 0 1];

F = [1 0; 0 1];

R = [0.1 0; 0 0.1];

k_steps = 100;

X_K = zeros(n,k_steps);

%初始狀態(tài)變量值

X_K(:,1) = [20;-20];

%設置目標函數(shù)

X_D = zeros(n,k_steps);

X_D(1,50:end) = 50;

X_D(2,50:end) = 10;

U_K = zeros(p,k_steps);

%定義預測區(qū)間

N = 5;

[E,H] = MPC_Matrices(A,B,Q,R,F,N);

%計算每一步的狀態(tài)變量值

?for k = 1 : k_steps

???U_K(:,k) = Prediction(X_K(:,k)-X_D(:,k),E,H,N,p);

???X_K(:,k+1) = A*(X_K(:,k)-X_D(:,k)) + B*U_K(:,k) + X_D(:,k);

?end

?%繪制狀態(tài)變量和輸入變化

?subplot (2,1,1);

?hold;

?for i = 1 : size(X_K,1)

???plot(X_K(i,:));

???plot(X_D(i,:));

?end

legend("x1","x2","xd1","xd2");

hold off;

subplot(2,1,2);

hold;

for i = 1 : size(U_K,1)

??plot(U_K(i,:));

end

legend("u1","u2");

ldg = legend;