.LinearMPC.FunctionsStepResponse.calculateOutput

Interface

function calculateOutput
  input Real H[:, :] "Hessian matrix";
  input Real GhT[:, :];
  input Real F[:, :];
  input Real E[:, :];
  input Real[:, :, :] S "step response matrix";
  input Real Ac[:, :];
  input Real r[:] "reference trajectory";
  input Real y[:] "current values of controlled variables";
  input Real yPreMeasured[:] "measured controlled variables of last time step";
  input Real b[:] "prediction bias";
  input Real bpre[:] "prediction bias of last time step";
  input Real d[:] "measurable disturbances";
  input Real deltaUBuffer[:] "past values of delta_u";
  input Integer Nl "lower prediction horizon";
  input Integer Np "upper prediction horizon";
  input Integer Nu "control horizon";
  input Integer Nm "model horizon";
  input Integer p "number of controlled variables";
  input Integer m "number of manipulated variables";
  input Integer Nc "number of constraints";
  input Basic.ConstraintsRecord rcdC;
  input Real u_pre[:] "last controller output u(k-1)";
  input Real deltaUpre[:] "last calculated trajectory";
  input Basic.QPSolverRecord SolverParams;
  output Real deltaU[m*Nu];
end calculateOutput;