Nonlinear MPC Design

Design model predictive controllers with nonlinear prediction models, costs, and constraints

As in traditional linear MPC, nonlinear MPC calculates control actions at each control interval, using a combination of model-based prediction and constrained optimization. The key differences are:

The prediction model can be nonlinear and include time-varying parameters
The equality and inequality constraints can be nonlinear
The scalar cost function to be minimized can be a nonquadratic (linear or nonlinear) function of the decision variables.

By default, nonlinear MPC controllers solve a nonlinear programming problem using thefminconfunction, which requires Optimization Toolbox™ software. If you do not have Optimization Toolbox software you can specify your own custom nonlinear solver.

For more information, seeNonlinear MPC.

Functions

`nlmpc`	Nonlinear model predictive controller
`nlmpcMultistage`	Multistage nonlinear model predictive controller
`nlmpcmove`	Compute optimal control action for nonlinear MPC controller
`nlmpcmoveopt`	Option set for`nlmpcmove`function
`getSimulationData`	Create data structure to simulate multistage MPC controller with`nlmpcmove`
`validateFcns`	Examine prediction model and custom functions of`nlmpc`or`nlmpcMultistage`objects for potential problems
`convertToMPC`	Convert`nlmpc`object into one or more`mpc`objects
`createParameterBus`	Create金宝appbus object and configure Bus Creator block for passing model parameters to Nonlinear MPC Controller block

Blocks

Nonlinear MPC Controller	Simulate nonlinear model predictive controllers
Multistage Nonlinear MPC Controller	Simulate multistage nonlinear model predictive controllers

Topics

Nonlinear MPC Basics

Nonlinear MPC

Nonlinear model predictive controllers control plants using nonlinear prediction models, cost functions, or constraints.

为非线性MPC指定预测模型

To define a prediction model for a nonlinear MPC controller, specify the state and output functions.

Specify Cost Function for Nonlinear MPC

Nonlinear MPC controllers support generic cost functions, such as a combination of linear or nonlinear functions of the system states, inputs, and outputs.

Specify Constraints for Nonlinear MPC

You can specify custom linear and nonlinear constraints for your nonlinear MPC controller in addition to standard linear MPC constraints.

Configure Optimization Solver for Nonlinear MPC

By default, nonlinear MPC controllers optimize their control move using thefminconfunction from the Optimization Toolbox. You can also specify your own custom nonlinear solver.

Trajectory Optimization and Control of Flying Robot Using Nonlinear MPC

You can use nonlinear MPC for both optimal trajectory planning and closed-loop control applications.

Land a Rocket Using Multistage Nonlinear MPC

计划最优火箭飞行器轨迹和性能rm closed-loop control of landing process using multistage nonlinear MPC.

Feedback Control

Nonlinear Model Predictive Control of an Exothermic Chemical Reactor

Control a nonlinear plant as it transitions between operating points.

Swing-up Control of a Pendulum Using Nonlinear Model Predictive Control

Achieve swing-up and balancing control of an inverted pendulum on a cart using a nonlinear model predictive controller.

Nonlinear and Gain-Scheduled MPC Control of an Ethylene Oxidation Plant

You can generate one or more linear MPC controllers from a nonlinear MPC controller and use these controllers for gain-scheduled control applications.

Optimization and Control of a Fed-Batch Reactor Using Nonlinear MPC

Simulate nonlinear MPC controller as adaptive and time-varying MPC controller, and compare performance.