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y0=zeros(P,1);<br />y=[];<br />u01=zeros(na+2,1);<br />u=[];<br />for j=1:na+1<br /> u(j)=0;<br />end<br />u=u';<br />yr=[];yr(1)=0;<br />yr1=zeros(P,1);<br />sy=zeros(P,1);<br />d1=[1,0,0];<br />f=zeros(P,1);<br />% w=2;r=2.4;a=0.8;<br />w=1;r=2;a=0.2;<br />I=eye(P,P);<br />for t=1:400 <br /> for j=1<img src="images/smilies/default/tongue.gif" smilieid="7" border="0" alt="" /><br /> yr(t+j)=a*yr(t+j-1)+(1-a)*w;<br /> yr1(j)=yr(t+j);<br /> end<br /> <br /> for j=1<img src="images/smilies/default/tongue.gif" smilieid="7" border="0" alt="" /><br /> sy(j)=S(j,1)*y0(1)+S(j,2)*y0(2)+S(j,3)*y0(3);<br /> end<br /> f=G2*u0+sy<br /> u1=inv(G1'*G1+r*I)*G1'*(yr1-f);<br /> ut1=d1*u1;<br /> ut=ut1+u01(na+2);<br /> u01(1)=u01(2);<br /> u01(2)=u01(3);<br /> u01(3)=u01(4);<br /> u01(4)=ut;<br /> u=[u;ut];<br /> u0(1)=u0(2);<br /> u0(2)=u0(3);<br /> u0(3)=ut1; <br /> y1=B(1)*u(nb+t)+B(2)*u(nb+t-1)+B(3)*u(nb+t-2)+B(4)*u(nb+t-3)-A(2)*y0(2)-A(3)*y0(3);<br /> y=[y;y1];<br /> y0(3)=y0(2);<br /> y0(2)=y0(1);<br /> y0(1)=y1; <br />end <br />t=1:400;<br />plot(t,y);<br />grid on</div>
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<h2>Re:【求助】用MATLAB进行预测控制的仿真</h2>
<div id="postmessage_199370" class="t_msgfont">GPC<br />N1=1;N2=3;Nu=3<img src="images/smilies/default/titter.gif" smilieid="9" border="0" alt="" />=3;<br />A=[1 0.36 0.24];<br />A1=[1 -0.64 -0.12 -0.24];<br />B=[0.5 0.25 0 0];<br /><br />na=2;nb=3;<br />S=zeros(P,na+1);<br />S(1,<img src="images/smilies/default/smile.gif" smilieid="1" border="0" alt="" />=[2.474 -1.948 0.474];<br />for i=1:na<br /> for j=1<img src="images/smilies/default/tongue.gif" smilieid="7" border="0" alt="" />-1<br /> S(j+1,i)=S(j,i+1)-A1(i+1)*S(j,1);<br /> S(j+1,na+1)=-S(j,1)*A1(na+2);<br /> end<br />end<br />R=zeros(P,P);<br />r0=1;r=[];r(1)=r0;<br />for j=1<img src="images/smilies/default/tongue.gif" smilieid="7" border="0" alt="" />-1<br /> R(j+1,j+1)=S(j,1);<br /> r(j+1)=R(j+1,j+1);<br />end<br />for j=1:2<br /> for i=1:j<br /> R(j+1,i)=r(i);<br /> R(j,i)=R(j+1,i);<br /> end<br />end<br />G=zeros(P,P+nb);<br />for j=1:nb+1<br /> G(1,j)=B(j);<br />end<br />for j=1<img src="images/smilies/default/tongue.gif" smilieid="7" border="0" alt="" />-1<br /> for i=1:j+nb+1<br /> if i<=j<br /> bij=0;<br /> else <br /> bij=B(i-j);<br /> end<br /> G(j+1,i)=G(j,i)+S(j,1)*bij;<br /> end<br />end<br />G1=zeros(P,Nu);G2=zeros(P,nb);<br />for i=1<img src="images/smilies/default/tongue.gif" smilieid="7" border="0" alt="" /><br /> for j=1:Nu<br /> if i==j<br /> G1(i,j)=G(1,1);<br /> else if i==j+1<br /> G1(i,j)=G(2,2);<br /> else if i==j+2<br /> G1(i,j)=G(3,3);<br /> end<br /> end<br /> end<br /> end<br />end<br />for i=1<img src="images/smilies/default/tongue.gif" smilieid="7" border="0" alt="" /><br /> for j=1:nb<br /> G2(i,j)=G(i,i+nb-j+1);<br /> end<br />end<br />u0=zeros(nb,1);<br />u1=zeros(P,1);<br />y0=zeros(P,1);<br />y=[];<br />u01=zeros(na+2,1);<br />u=[];<br />for j=1:na+1<br /> u(j)=0;<br />end<br />u=u';<br />yr=[];yr(1)=0;<br />yr1=zeros(P,1);<br />sy=zeros(P,1);<br />d1=[1,0,0];<br />f=zeros(P,1);<br />% w=2;r=2.4;a=0.8;<br />w=1;r=2;a=0.2;<br />I=eye(P,P);<br />for t=1:400 <br /> for j=1<img src="images/smilies/default/tongue.gif" smilieid="7" border="0" alt="" /><br /> yr(t+j)=a*yr(t+j-1)+(1-a)*w;<br /> yr1(j)=yr(t+j);<br /> end<br /> <br /> for j=1<img src="images/smilies/default/tongue.gif" smilieid="7" border="0" alt="" /><br /> sy(j)=S(j,1)*y0(1)+S(j,2)*y0(2)+S(j,3)*y0(3);<br /> end<br /> f=G2*u0+sy<br /> u1=inv(G1'*G1+r*I)*G1'*(yr1-f);<br /> ut1=d1*u1;<br /> ut=ut1+u01(na+2);<br /> u01(1)=u01(2);<br /> u01(2)=u01(3);<br /> u01(3)=u01(4);<br /> u01(4)=ut;<br /> u=[u;ut];<br /> u0(1)=u0(2);<br /> u0(2)=u0(3);<br /> u0(3)=ut1; <br /> y1=B(1)*u(nb+t)+B(2)*u(nb+t-1)+B(3)*u(nb+t-2)+B(4)*u(nb+t-3)-A(2)*y0(2)-A(3)*y0(3);<br /> y=[y;y1];<br /> y0(3)=y0(2);<br /> y0(2)=y0(1);<br /> y0(1)=y1; <br />end <br />t=1:400;<br />plot(t,y);<br />grid on</div>
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