I understand that you want to know the difference between “mpcobj” and “sim” commands in Model Predictive Control,
In the Model Predictive Control Toolbox in MATLAB, both “mpc” and “sim” commands are essential for implementing and simulating Model Predictive Control systems, but they serve different purposes,
The “mpcobj” command in the Model Predictive Control Toolbox is used to create an MPC object. This object represents the MPC controller and contains all the necessary information such as the plant model, prediction horizon, control horizon, constraints, and weights.
On the other hand, the “sim” command is used to simulate the MPC controller. It takes the MPC object, the plant model, and the input signals as inputs and performs a simulation of the closed-loop system. The sim command applies the MPC control law to compute the control actions based on the current state of the plant and the desired setpoints.
Now, regarding your question about “mpcobj”,
“mpcobj” itself does not directly run a system, whether open-loop or closed-loop. It is a configuration object that represents the Model Predictive Controller you've designed.
The MPC controller represented by “mpcobj” can be used in a closed-loop control system, where it receives feedback from the system being controlled and generates control inputs accordingly. This closed-loop behavior is typically achieved through simulation using the sim command.
In summary, “mpc” is used for designing the MPC controller (mpcobj), and “sim” is used for simulating the closed-loop behavior of the system with the MPC controller. The MPC controller operates in closed-loop mode when used within a simulation performed with the “sim” command.
You can also refer to the following documentation links for more information,
Hope this helps!
