Specifications

Run-Time Weight Tuning
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Run-Time Weight Tuning
There are two ways to perform tuning experiments using Model Predictive Control
Toolbox software:
• Modify your controller object off line (by changing weights, etc.) and then test the
modified object.
• Change tuning weights as the controller operates.
This topic describes the second approach.
You can adjust the following tuning weights as the controller operates (see “Tuning
Weights”):
•
Plant output variable (OV) reference tracking, w
y
.
•
Manipulated variable (MV) reference tracking, w
u
.
•
MV increment suppression, w
∆u
.
• Global constraint softening, ρ
∊
.
In each case, the weight applies to the entire prediction horizon. If you are using time-
varying weights, you must use offline modification of the weight and then test the
modified controller.
In Simulink, the following blocks support online (run-time) tuning:
• MPC Controller
• Adaptive MPC Controller
• Multiple MPC Controllers. In this case, the tuning signals apply to the active
controller object, which might switch as the control system operates. If the objects in
your set employ different weights, you should tune them off line.
The Explicit MPC Controller block cannot support online tuning because a weight change
requires a complete revision of the explicit MPC control law, which is computationally
intensive.
For command-line testing, the mpcmove and mpcmoveAdaptive commands include
options to mimic the online tuning behavior available in Simulink.
Related Examples
• Tuning Controller Weights