Specifications

Control Based On Multiple Plant Models
4-19
• A simulation of a contact sensor. When the two masses have the same position, the
Compare to Constant block evaluates to true, and the Add1 block converts this to
a 2. Otherwise, the Add1 output is 1.
• The Multiple MPC Controller block. It has four inputs. The measured output (mo),
reference (ref), and measured disturbance (md) inputs are as for a standard MPC
Controller block. The distinctive feature is the switch input.
The figure below shows the Multiple MPC Controller block mask for this example
(obtained by double clicking on the controller block).