form_constraints.m

3个关于预测控制的matlab函数

function [H,f,Omega,b]=form_constraints(A,B,C,N1,N2,Nu,xk,wdata,lamda,ymax,ymin)
[Phi, G]=predictions(A,B,C,N1,N2,Nu);
H = (G'*G+lamda*eye(size(G'*G)));
f = G'*(Phi*xk-wdata);
Omega=G;
E = G;
F = zeros(Nu,1);
M = -Phi;
beta=[];
for i =N1:N2
beta = [beta;ymax]; 
end
b = beta + M*xk;