Specifications

Design Controller for Plant with Delays
3-55
The plant inputs plot shows that the initial input moves are more than five times
the final change. Also, there are periodic pulses in the control action as the controller
attempts to counteract the delayed effects of each input on the two outputs.
You can moderate these effects by tuning the controller weights or by specifying a custom
blocking strategy. For this example, use the latter approach. In the tree, select MPC
Design Task > Controllers > MPC1. Select the Blocking check box.
In the Blocking section:
• From the Blocking allocation within prediction horizon list, select Custom
• In the Custom move allocation vector, enter [5 5 5 5 10]