Specifications

3 Designing Controllers Using the Design Tool GUI
3-36
Default Input Disturbance Settings for CSTR
In this case the disturbance magnitude is nonzero, and the disturbance type is Steps.
Thus, the controller assumes that disturbances enter as random steps (integrated white
noise) at the plant's unmeasured disturbance input.
Click the Measurement Noise tab, verifying that the controller is assuming white
noise, magnitude 1 (not shown).
The following summarizes Model Predictive Control Toolbox default disturbance
modeling assumptions for this case:
• Additive output disturbances: none
• Unmeasured input disturbances: random steps (integrated white noise)
• Measurement noise: white