Specifications

2 Building Models
2-2
MPC Modeling
In this section...
“Plant Model” on page 2-2
“Input Disturbance Model” on page 2-4
“Output Disturbance Model” on page 2-5
“Measurement Noise Model” on page 2-6
The model structure used in the MPC controller appears in the illustration below. This
section explains how the models connect for prediction and state estimation.
Plant Model
The plant model may be in one of the following linear-time-invariant (LTI) formats:
• Numeric LTI models: Transfer function (tf), state-space (ss), zero-pole-gain (zpk).