Integral MPC in Simulink
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Hello, is anybody able to provide a working Simulink scheme implementing an integral action on a MPC controller? On internet I'm not able to find anything. I'm interested in particular in the increment velocity form technique.
2 Comments
Sam Chak
on 14 Sep 2023
Hi @Ale_798
Can you provide a picture of what integral action in an MPC controller looks like? The MPC produces an optimal control action for the system over a finite time horizon. If you want to incorporate integral control into this MPC output signal, the integral control action may no longer remain optimal over a finite time horizon. Are you suggesting adding an integral action to the MPC like ''?
Answers (2)
Sam Chak
on 14 Sep 2023
Hi @Ale_798
Thank you for clarifying the problem. I'm not an expert in MPC, but after reviewing your comment, I believe you can try creating a custom cost function for the Integral MPC. You can find more information on specifying a custom cost function like yours
at this link:
and an example at this link:
However, I'm uncertain if this approach will work in Simulink, but you can at least try it in the MATLAB environment. Once you confirm its functionality, we can explore ways to implement it in Simulink.
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Emmanouil Tzorakoleftherakis
on 25 Sep 2023
Why don't you use the MVRate constraint instead of adding the term in the cost function?
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