Model Predictive Control Toolbox    
smpcgain, smpcpole

Calculates steady-state gain matrix or poles for a system in the MPC mod format.

Syntax

Description
mod is a dynamic model in the MPC mod format. smpcgain and smpcpole convert it to its equivalent state-space form:

          x(k + 1) = x(k) + v (k)

    y(k) = Cx(k) + Dv(k)

where includes all of the inputs in mod. smpcgain then calculates the gain matrix:

which contains ny rows, corresponding to each of the outputs in mod, and nu + nd + nw columns, corresponding to each of the inputs.

smpcpole calculates the poles, i.e., the eigenvalues of the matrix.

Example
See smpccl for an example of the use of smpcpole.

Restriction
If mod is not asymptotically stable, smpcgain terminates with an error message.

See Also
mod


smpcest smpcsim