User manual MATLAB MODEL PREDICTIVE CONTROL TOOLBOX RELEASE NOTES

[. . . ] Other product or brand names may be trademarks or registered trademarks of their respective holders. Patents The MathWorks products are protected by one or more U. S. Please see www. mathworks. com/patents for more information. Contents Summary by Version . Version 3. 2 (R2010a) Model Predictive Control Toolbox Software . Version 3. 1. 1 (R2009b) Model Predictive Control Toolbox . [. . . ] Version (Release) Latest Version V3. 2 (R2010a) V3. 1. 1 (R2009b) V3. 1 (R2009a) No Yes "Version 3. 1 (R2009a) Model Predictive Control Toolbox Software" on page 6 Yes "Version 3. 0 (R2008b) Model Predictive Control Toolbox Software" on page 7 No Yes "Version 2. 3 (R2007b) Model Predictive Control Toolbox Software" on page 11 No No Bug Reports Includes fixes Bug Reports Includes fixes New Features and Changes Yes Details Version Compatibility Considerations No Fixed Bugs and Known Problems Bug Reports Includes fixes Related Documentation at Web Site Printable Release Notes: PDF Current product documentation No No V3. 0 (R2008b) No Bug Reports Includes fixes No V2. 3. 1 (R2008a) V2. 3 (R2007b) No No No No No No 1 Model Predictive Control ToolboxTM Release Notes Version (Release) V2. 2. 4 (R2007a) V2. 2. 3 (R2006b) V2. 2. 2 (R2006a) New Features and Changes No No Yes "Version 2. 2. 2 (R2006a) Model Predictive Control Toolbox Software" on page 15 No No No Yes "Version 2. 0 (R14) Model Predictive Control Toolbox Software" on page 19 Version Compatibility Considerations No No No Fixed Bugs and Known Problems Bug Reports Includes fixes No bug fixes No bug fixes Related Documentation at Web Site No No No V2. 2. 1 (R14SP3) V2. 2 (R14SP2) V2. 1 (R14SP1) V2. 0 (R14) No No No No No bug fixes No bug fixes Fixed bugs Known problems No No No No Using Release Notes Use release notes when upgrading to a newer version to learn about: · New features · Changes · Potential impact on your existing files and practices Review the release notes for other MathWorksTM products required for this product (for example, MATLAB® or Simulink®). Determine if enhancements, bugs, or compatibility considerations in other products impact you. 2 Summary by Version If you are upgrading from a software version other than the most recent one, review the current release notes and all interim versions. For example, when you upgrade from V1. 0 to V1. 2, review the release notes for V1. 1 and V1. 2. What Is in the Release Notes New Features and Changes · New functionality · Changes to existing functionality Version Compatibility Considerations When a new feature or change introduces a reported incompatibility between versions, the Compatibility Considerations subsection explains the impact. Compatibility issues reported after the product release appear under Bug Reports at The MathWorksTM Web site. Bug fixes can sometimes result in incompatibilities, so review the fixed bugs in Bug Reports for any compatibility impact. Fixed Bugs and Known Problems The MathWorks offers a user-searchable Bug Reports database so you can view Bug Reports. The development team updates this database at release time and as more information becomes available. Bug Reports include provisions for any known workarounds or file replacements. Information is available for bugs existing in or fixed in Release 14SP2 or later. Information is not available for all bugs in earlier releases. Access Bug Reports using your MathWorks Account. 3 Model Predictive Control ToolboxTM Release Notes Version 3. 2 (R2010a) Model Predictive Control Toolbox Software This table summarizes what's new in Version 3. 2 (R2010a): New Features and Changes Yes Details below Version Compatibility Considerations No Fixed Bugs and Known Problems Bug Reports Includes fixes Related Documentation at Web Site No New features introduced in this version: New Ability to Analyze SISO Generalized Predictive Controllers (GPC) You can now use gpc2mpc to convert your SISO GPC controller to an MPC controller. Analyze and simulate the resulting MPC controller using available Model Predictive Control ToolboxTM commands. For more information, see the gpc2mpc reference page. 4 Version 3. 1. 1 (R2009b) Model Predictive Control ToolboxTM Version 3. 1. 1 (R2009b) Model Predictive Control Toolbox This table summarizes what's new in Version 3. 1. 1 (R2009b): New Features and Changes No Version Compatibility Considerations No Fixed Bugs and Known Problems Bug Reports Includes fixes Related Documentation at Web Site Printable Release Notes: PDF Current product documentation 5 Model Predictive Control ToolboxTM Release Notes Version 3. 1 (R2009a) Model Predictive Control Toolbox Software This table summarizes what's new in Version 3. 1 (R2009a): New Features and Changes Yes Details below Version Compatibility Considerations No Fixed Bugs and Known Problems Bug Reports Includes fixes Related Documentation at Web Site No New features and changes introduced in this version are described here. New Sensitivity Analysis to Determine Effect of Weights on Tuning MPC Controllers You can now perform sensitivity analysis to determine the effect of weights on the closed-loop performance of your system. You can perform sensitivity analysis using the following: · MPC Tuning Advisor. See Tuning Advisor in the Model Predictive Control User's Guide. See the sensitivity reference page. 6 Version 3. 0 (R2008b) Model Predictive Control ToolboxTM Software Version 3. 0 (R2008b) Model Predictive Control Toolbox Software This table summarizes what's new in Version 3. 0 (R2008b): New Features and Changes Yes Details below Version Compatibility Considerations No Fixed Bugs and Known Problems Bug Reports Includes fixes Related Documentation at Web Site No New features and changes introduced in this version are: · "New Multiple MPC Controllers Block in the Model Predictive Control Toolbox Simulink Library" on page 7 · "Tested Code Generation Support for Real-Time Workshop Target Systems" on page 8 · "Ability to Design Controllers with Time-Varying Weights and Constraints Using the GUI" on page 8 New Multiple MPC Controllers Block in the Model Predictive Control Toolbox Simulink Library You can now use the Multiple MPC Controllers block in Simulink software to control a nonlinear process over a range of operating points. You include an MPC controller for each operating point in the Multiple MPC Controllers block and specify switching between these controllers in real-time based on the input scheduling signal to the block. If you need to change the design of a specific controller, you can open the MPC Design Tool GUI directly from the Multiple MPC Controllers block. During model simulation, Model Predictive Control Toolbox provides bumpless transfer when the system transitions between operating points. To learn more about configuring the new block, see the Multiple MPC Controllers block reference page. 7 Model Predictive Control ToolboxTM Release Notes Tested Code Generation Support for Real-Time Workshop Target Systems After designing an MPC controller in Simulink software using the MPC Controller block, you can use Real-Time Workshop® software to build this controller and deploy it to the following target systems for real-time control: · Generic Real-Time Target · Real-Time Workshop Embedded Coder · Real-Time Windows Target · Rapid Simulation Target · Target Support Package FM5 · xPC Target · dSpace Target · Target for Infineon TriCore The following target systems are either not supported or not recommended because they result in significant performance issues: · Embedded Target for TI C2000 DSP · Embedded Target for TI C6000 DSP · Target Support Package IC1 (for Infineon C166) · Tornado (VxWorks) Real-Time Target Note The Multiple MPC Controllers block has not been tested with the target systems supported by Real-Time Workshop software. Ability to Design Controllers with Time-Varying Weights and Constraints Using the GUI While you design an MPC controller using the MPC Design Tool graphical user interface (GUI), you can specify time-varying weights and constraints for manipulated variables, rate of change of manipulated variables, and output 8 Version 3. 0 (R2008b) Model Predictive Control ToolboxTM Software variables. In the previous version, you could only specify the time-varying weights and constraints at the command line. Furthermore, you can load an MPC controller with time-varying information from the command line into the MPC Design Tool GUI. [. . . ] You can use multiple MPC blocks within a single Simulink model if you want. In any case, the MPC block makes it easy to evaluate controller performance with a nonlinear plant. MPC Tools Designer Added MPC Tools is a new graphical environment that lets you design and test an MPC controller object without learning the command syntax. It is tightly integrated with the MPC block for Simulink, making it easy to run either a linear or nonlinear simulation. Integration with Other MATLAB Toolboxes The Model Predictive Control Toolbox software uses the same LTI model representation found in the Control System Toolbox software, System Identification ToolboxTM software, etc. Examples of ways in which you can exploit toolbox compatibility include the following: · Import raw dynamic response data to the System Identification Toolbox software, determine an appropriate LTI plant model, and export it to Model Predictive Control Toolbox software for controller design. [. . . ]