cloffset
Compute MPC closed-loop DC gain from output disturbances to measured outputs assuming constraints are inactive at steady state
Syntax
DCgain = cloffset(MPCobj)
Description
The cloff function computes the DC gain
from output disturbances to measured outputs,
assuming constraints are not active, based on the
feedback connection between
Model.Plant and the linearized
MPC controller, as depicted below.
Computing the Effect of Output Disturbances
By superposition of effects, the gain is computed by zeroing references, measured disturbances, and unmeasured input disturbances.
DCgain = cloffset(MPCobj) returns an
nym-by-nym
DC gain matrix DCgain, where
nym is
the number of measured plant outputs.
MPCobj is the MPC object
specifying the controller for which the closed-loop
gain is calculated. DCgain(i,j)
represents the gain from an additive (constant)
disturbance on output j to
measured output i. If row
i contains all zeros, there
will be no steady-state offset on output
i.