MATLAB/Simulink code update

Matlab_scripts/MPCforSonja/setupMPCcasadi_v1_0.m

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+
+
+%% Settings
+TimeStep = 900; % Step time
+nHor     = 4*24; % Length of ontrol and planning horizon
+%tSmp     = 0:TimeStep:nHor*TimeStep-1;
+
+nStt     = 1; % Number of states
+chY      = 1; % Number of observed variables
+nDst     = 1; % Number of disturbance variables
+nMV      = 1; % Number of controlled variables
+
+%% System matrices
+A  = 1;
+B  = [-1, 1]/(3000*4182/TimeStep);
+Bd = B(:, 1:nDst);
+Bu = B(:, nDst+1:end);
+C  = 1;
+D  = 0;
+
+%% Constraints and normalization
+uMin = 0; 
+uMax = 7500; 
+yMin = 40;
+yMax = 50;
+
+%% Weights
+R   = 1/uMax/0.1; 
+T   = 1e5*eye(chY); 
+