Specifications

4 Designing Controllers Using the Command Line
4-28
Run-Time Constraint Updating
Constraint bounds can change during controller operation. The mpcmove,
mpcmoveAdaptive, and mpcmoveExplicit commands allow for this possibility. In
Simulink, all the MPC Controller blocks allow for it as well. Both of these simulation
approaches give you the option to update all specified bounds at each control interval.
You cannot constrain a variable for which the corresponding controller object property is
unbounded.
If your controller object uses time-varying constraints, the updating option applies to the
first finite value in the prediction horizon, and all other values adjust to maintain the
same profile, i.e., they update by the same amount.
Related Examples
• Varying Input and Output Constraints
More About
• “Run-Time Weight Tuning” on page 4-29