size

Size and order of MPC Controller

Syntax

mpcSize = size(mpcobj)

signalSize = size(mpcobj,SignalType)

size(___)

Description

Use the Model Predictive Control Toolbox™ size function to return size and order of an MPC controller (see mpc for background).

To return the dimensions of an generic array or table instead, see size.

mpcSize = size(mpcobj) returns a row vector specifying the number of manipulated variables and the number of measured plant outputs associated with mpcobj.

signalSize = size(mpcobj,SignalType) returns the number of the element of the specified signal type associated with mpcobj.

size(___) displays the corresponding size information for any of the previous syntaxes.

Examples

Get size of MPC controller

Create a plant, a corresponding MPC object, and get the size of the MPC signals.

mpcverbosity off;                           % turn off mpc messages
plant = rss(5,2,3);plant.D=0;               % random state space
mpcobj=mpc(plant,1);                        % create mpc object (1 second sampling time)

mpcSize = size(mpcobj)                      % size of the MPC controller
mpcSize =
     3     2

nMV = size(mpcobj,'MV')                     % size of manipulated variables vector 
nMV =
     3
nMO = size(mpcobj,"MO")                     % size of measured output vector 
nMO =
     2
nMD = size(mpcobj,'md')                     % size of measured (input) disturbance vector 
nMD =
     0

size(mpcobj)                                % size of MPC controller, printout
MPC controller with 2 measured output(s), 0 unmeasured output(s),
3 manipulated input(s), 0 measured disturbance(s), 0 unmeasured disturbance(s)

Input Arguments

mpcobj — Model predictive controller

mpc object | explicitMPC object

Model predictive controller, specified as one of the following:

• mpc object — Implicit MPC controller

• explicitMPC object — Explicit MPC controller created using generateExplicitMPC.

SignalType — Type of the MPC signal

character array | string

You can specify SignalType as one of the following (in lower or upper case):

• 'uo' — Unmeasured controlled outputs

• 'md' — Measured disturbances

• 'ud' — Unmeasured disturbances

• 'mv' — Manipulated variables

• 'mo' — Measured controlled outputs

Example: "MV"

Output Arguments

mpcSize — Size of the MPC controller

row vector

This row vector contains the two positive integers, n_u and n_ym, where n_u is the number of manipulated variables (controlled plant inputs) and n_ym is the number of measured plant outputs.

signalSize — Size of the MPC signal

nonnegative integer

This positive integer is the number of elements of the specified signal type associated with mpcobj

Version History

Introduced before R2006a