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Examples.LinearMPCBinaryExample.md

Examples.LinearMPCBinaryExample ​

Hybrid MPC of a first-order plant with an on/off actuator: the control is declared binary and takes only the values umin and umax, so the mixed-integer QP is solved at every tick.

Usage ​

MPCComponents.Examples.LinearMPCBinaryExample()

Variables ​

NameDescriptionUnits
y1Plant output–
u1Control signal–

Behavior ​

Behavior of this component cannot be rendered because it includes path variables.

Source ​

dyad
"""
Hybrid MPC of a first-order plant with an on/off actuator: the control is declared binary and
takes only the values `umin` and `umax`, so the mixed-integer QP is solved at every tick.
"""
example component LinearMPCBinaryExample
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.1) {}
  plant = BlockComponents.Continuous.FirstOrder(k = 1.0, T = 0.5, x(initial = 0)) {}
  s1 = DiscreteComponents.Sampler() {}
  sr = DiscreteComponents.Sampler() {}
  zoh = DiscreteComponents.ZeroOrderHold() {}
  ref = BlockComponents.Sources.Constant(k = 0.5) {}
  mpc = MPCComponents.LinearMPCController(dynamics = plant, inputs = ["u"], outputs = ["y"], state_variables = ["x"], Ts = 0.1, Q1 = [1.0], Q2 = [0.001], umin = [0.0], umax = [1.0], binary_controls = [1], Np = 5, R1 = [0.01], R2 = [0.01]) {}
  "Plant output"
  variable y1::Real
  "Control signal"
  variable u1::Real
relations
  y1 = plant.y
  u1 = mpc.u[1]
  connect(zoh.y, plant.u)
  connect(plant.y, s1.u)
  connect(s1.y, mpc.y[1], periodicclock.y)
  connect(ref.y, sr.u)
  connect(sr.y, mpc.r[1])
  connect(mpc.u[1], zoh.u)
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}, "doc": {"behavior": false}}}
end
Flattened Source
dyad
"""
Hybrid MPC of a first-order plant with an on/off actuator: the control is declared binary and
takes only the values `umin` and `umax`, so the mixed-integer QP is solved at every tick.
"""
example component LinearMPCBinaryExample
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.1) {}
  plant = BlockComponents.Continuous.FirstOrder(k = 1.0, T = 0.5, x(initial = 0)) {}
  s1 = DiscreteComponents.Sampler() {}
  sr = DiscreteComponents.Sampler() {}
  zoh = DiscreteComponents.ZeroOrderHold() {}
  ref = BlockComponents.Sources.Constant(k = 0.5) {}
  mpc = MPCComponents.LinearMPCController(dynamics = plant, inputs = ["u"], outputs = ["y"], state_variables = ["x"], Ts = 0.1, Q1 = [1.0], Q2 = [0.001], umin = [0.0], umax = [1.0], binary_controls = [1], Np = 5, R1 = [0.01], R2 = [0.01]) {}
  "Plant output"
  variable y1::Real
  "Control signal"
  variable u1::Real
relations
  y1 = plant.y
  u1 = mpc.u[1]
  connect(zoh.y, plant.u)
  connect(plant.y, s1.u)
  connect(s1.y, mpc.y[1], periodicclock.y)
  connect(ref.y, sr.u)
  connect(sr.y, mpc.r[1])
  connect(mpc.u[1], zoh.u)
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}, "doc": {"behavior": false}}}
end


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Test Case case1 ​

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