.LinearMPC.FunctionsStateSpace.PredictionMatrix

Interface

function PredictionMatrix
  input Real[:, :] A "control system matrix A";
  input Real[:, :] B "control system matrix B";
  input Real[:, :] C "control system matrix C";
  input Real[:, :] D "control system matrix D";
  input Integer Nl "lower prediction horizon";
  input Integer Np "upper prediction horizon";
  input Integer Nu "control horizon";
  input Integer m "number of control systems inputs";
  input Integer p "number of control systems outputs";
  output Real P[(Np - Nl + 1)*p, Nu*m] "prediction matrix";
end PredictionMatrix;