Hi, i was trying to create a MPC but i failed and the response was Undefined function 'mpc' for input arguments of type 'tf' i cant even open the MATLAB Example
MATLAB: MPC problem with transfer function
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please refer to the traffic light demo as below:
https://ww2.mathworks.cn/help/driving/examples/traffic-light-negotiation.html?s_tid=srchtitle
The Estimate Lane Center subsystem outputs the lane offset data to the Lane keeping controller. The previewed curvature provides the centerline of lane curvature and the lateral deviation measures the distance between the vehicle and the centerline of the lane. The relative yaw angle measures the yaw angle difference between the vehicle and the road.
So, to keep the vehicle in the middle of the lane the controller reduces lateral deviation 
and the relative yaw angle 
, by controlling the steering angle.
and the relative yaw angle , by controlling the steering angle.
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