.LinearMPC.FunctionsStateSpace.DisturbanceMatrix

Interface

function DisturbanceMatrix
  input Real[:, :] Ad;
  input Real A[:, :] "discrete time control system matrix A, inaugmented";
  input Real C[:, :] "discrete time control system matrix C, inaugmented";
  input Integer Nl "lower prediction horizon";
  input Integer Np "upper prediction horizon";
  input Integer p "number of control systems outputs";
  input Integer q "number of measurable disturbance variables";
  output Real[p*(Np - Nl + 1), q*(Np - Nl + 1)] E;
end DisturbanceMatrix;