MPC Toolbox : How to set "time optimal" Control problem using Custom Constrain function?

Hello,

I am trying to control some plant "time optimally" which means to reach target point in a minimal time.

However, I don't know how to put this "time" information into the cost function.

It seems MATLAB MPC toolbox only supports state, input and parameter for setting cost function.

I think it seems possible if I use parameter, but I don't know how.

Thank you for answering!

Answer 1

[Emmanouil Tzorakoleftherakis]

Hello,

Unfortunately you cannot solve time-optimal problems with Model Predictive Control Toolbox because time cannot be used as a decision variable in the optimization. I have let the development team know about this and we will consider it for a future release. One workaround, although not equivalent, would be to use an error-based cost and weight the appropriate states as needed.

[종원 이]

Thank you for your answering. Please let me know if time optimal control is possible.

Thank you very much.