MATLAB: Find the help for sim command in the MPC Toolbox

doc commandmpc toolbox

The sim command can be used to simulate Simulink models or MPC objects. How can I open the Help Browser from the command line for the sim in the MPC Toolbox? The "doc sim" command open the reference for Simulink sim, not MPC sim.

I could use the "doc mpc/sim" command in the past to get help from the command line for the MPC sim. It doesn't seem to work in R2018b.

Best Answer

There seems to exist a consistency issue.

In R2018a, "doc mpc/sim" brings up the correct doc page. The address is

web(fullfile(docroot, 'mpc/ref/sim.html'))

In R2018b, "doc mpc/sim" WON'T bring up the correct doc page. Using address can bring it up

web(fullfile(docroot, 'mpc/ref/sim.html'))

In R2019a, "doc mpc/sim" brings up the correct doc page. The address is slightly different

web(fullfile(docroot, 'mpc/ref/mpc.sim.html'))

Related Solutions

MATLAB: How to get the ‘y_hat’ and ‘u’ prediction values from the Model Predictive Controller in Simulink in Model Predictive Control Toolbox 3.1.1 (R2009b)

It is not possible to get the 'y_hat' and 'u' prediction values from the MPC controller block in Simulink. This functionality is not available in Model Predictive Control Toolbox 3.1.1 (R2009b). You can, however, get this information via simulation in MATLAB using the MPCMOVE function in a step by step method as outlined below:

https://www.mathworks.com/help/mpc/ref/mpc.mpcmove.html

% Open-loop system parameters
 
% True plant and true initial state
sys = ss(tf({1,1,1},{[1 .5 1],[1 1],[.7 .5 1]}));
x0 = [0 0 0 0 0]';
 
% MPC object setup
Ts = 0.2;             % sampling time
 
% Define type of input signals
sys.InputGroup=struct('Manipulated',1,'Measured',2,'Unmeasured',3);
 
% Define constraints on manipulated variable
MV = struct('Min', 0, 'Max', 1);
Model = []; % Reset structure Model
Model.Plant = sys;
% Integrator driven by white noise with variance=1000
Model.Disturbance = tf(sqrt(1000), [1 0]);
p = [];       % Prediction horizon (take default one)
m = 3;        % Control horizon
weights = []; % Default value for weights
 
MPCobj = mpc(Model, Ts, p, m, weights, MV);
 
% Simulate closed loop system using MPCMOVE
Tstop = 30;  %Simulation time
 
xmpc = mpcstate(MPCobj); % Initial state of MPC controller
x = x0;                  % Initial state of Plant
r = 1;                   % Output reference trajectory
 
% State-space matrices of Plant model
[A, B, C, D] = ssdata(c2d(sys, Ts));
YY = [];
XX = [];
RR = [];
for t = 0:round(Tstop/Ts)-1
    XX=[XX, x];
    
    % Define measured disturbance signal
    v = 0;
    if t*Ts>=10
       v=1; 
    end
    
    % Define unmeasured disturbance signal
    d=0;
    if t*Ts>=20
       d=-0.5; 
    end
    
    % Plant equations: output update
    % (note: no feedrthrough from MV to Y, D(:,1)=0)
    y = C*x+D(:,2)*v+D(:,3)*d;
    YY = [YY, y];
    
    % Compute MPC law
    [u, info] = mpcmove(MPCobj, xmpc, y, r, v);
    info  %here is where you can collect all of the states in update.
    
    % Plant equations: state update
    x = A*x+B(:, 1)*u+B(:, 2)*v+B(:, 3)*d;
end
 
% Plot results
plot(0:Ts:Tstop-Ts, YY);
grid

MATLAB: Is there a way to programmatically display documentation pages for the methods of the Simulink.SimulationInput class rather than the page for class

Use web() instead of doc()

web(fullfile(docroot, 'simulink/slref/setpostsimfcn.html'))

web(fullfile(docroot, 'simulink/slref/simulink.simulationinput-class.html'))

You can use doc() to bring up the page and then right click, "Get Page Address".

In Live Editor, still use "matlab: web()"

Best Answer

Related Solutions

MATLAB: How to get the ‘y_hat’ and ‘u’ prediction values from the Model Predictive Controller in Simulink in Model Predictive Control Toolbox 3.1.1 (R2009b)

MATLAB: Is there a way to programmatically display documentation pages for the methods of the Simulink.SimulationInput class rather than the page for class

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