Functions: SimModel Internals
State-Space Functions
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ModelPredictiveControl.f — Function
f(model::LinModel, x, u, d)Evaluate when model is a LinModel.
Call with model.f function for NonLinModel.
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ModelPredictiveControl.h — Function
h(model::LinModel, x, d)Evaluate when model is a LinModel.
Call with model.h function for NonLinModel.
Steady-State Calculation
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ModelPredictiveControl.steadystate! — Function
steadystate!(model::LinModel, u, d)Set model.x to u and d steady-state if model is a LinModel.
Following setop! notation, the method evaluates the equilibrium from:
with constant manipulated inputs and measured disturbances . The Moore-Penrose pseudo-inverse computes to support integrating model (integrator states will be 0).
Do nothing if model is a NonLinModel.