Compute steady-state value of MPC controller state for given inputs and outputs
x = trim(MPCobj,y,u)
The trim function finds a steady-state
value for the plant state or the best approximation in a least squares
sense such that:
Here, xoff, uoff, and yoff are the nominal values of the extended state x, input u, and output y respectively.
x is returned as an mpcstate object.
Specify y and u as doubles. y specifies
the measured and unmeasured output values. u specifies
the manipulated variable, measured disturbance, and unmeasured disturbance
values. The values for unmeasured disturbances must be 0.
trim assumes the disturbance model and
measurement noise model to be zero when computing the steady-state
value. The software uses the extended state vector to perform the
calculation.