Anticipation on setpoint with model predictive control

Hello !

I am starting to use the Model Predictive Control Toolbox. And facing a problem...

I would like to anticipate the setpoint change, but can't manage to achieve that at the moment. The MV (manipulated variable) starts to move only at the time of the step on the setpoint. (In my opinion, the MPC controller should start to move the MV when the step change enters the prediction horizon (?)). See in the figure below the result I get in the MPCDesigner, and in red the results I would like to get (sorry for poor drawing...).

Thank you for any help with that toolbox ! :)

Morvan

Answer 1

[Morvan]

I actually found the solution in the MATLAB documentation. It is not very easy to find in my opinion, but not that hard... (sorry for asking too fast maybe).

It is here:

Use MPCSIMOPT object to turn on previewing feature in the closed-loop simulation.

params = mpcsimopt(mpcobj);

params.MDLookAhead='on';

params.RefLookAhead='on';

Hope that can help someone like me in the future ! :)

Morvan

Answer 2

[Joe Gibbs]

Just to provide additional resources for this question for those using the MPC block or MPC Designer in Simulink, the following "Signal Previewing" page presents the method for enabling preview or anticipation for reference inputs or disturbances in the event that these are partially observable.

https://uk.mathworks.com/help/mpc/ug/signal-previewing.html

Hope it's useful for someone in the future!