Download MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Specifications

Control Based On Multiple Plant Models
In the upper plot, the cyan curve is the desired position. It starts at –5. The M1 position
(yellow) starts at 0 and under the control of MPC1, M1 moves rapidly toward the desired
position. M2 (magenta) starts at 10 and begins moving in the same direction. At about t =
13 seconds, M2 collides with M1. The switching signal (lower plot) changes at this instant
from 1 to 2, so controller MPC2 has taken over.
The collision moves M1 away from its desired position and M2 remains joined to M1.
Controller MPC2 adjusts the applied force (middle plot) so M1 quickly returns to the
desired position.
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