If not I'll likely just create a new show on Onyx. I'm hoping I can just find some kind soul who happens to have a copy laying around and takes pity on me. I haven't gone so far as to determine *why*. STUPID! STUPID! STUPID!!!!!Īs far as the Onyx version(s), I've tried that option as well, but no. I can't believe I didn't copy it off to my Google drive. I even went so far as to try links on pages found by the Internet Archive just in case. Trust me, I've tried every old Martin and Elation link I could find for M-PC. All the manuals, add-ons, etc, but not the core application. That page no longer exists on their site. And if you click that link on the Martin site which supposedly links to their last version before Elation bought that series you get a 404 error. status, 'Solve_Succeeded' ) warning ( 'Failed at time %d!', i ) break end %if % Inject control and simulate plant using finer step size.

fixvar ( 'x', 1, x (:, i )) solverNMPC. Nsim = tfinal / Delta x = NaN ( Nx, Nsim + 1 ) x (:, 1 ) = x0 xplant = NaN ( Nx, ( plantSteps * Nsim + 1 )) xplant (:, 1 ) = x0 xplantnow = NaN ( Nx, plantSteps + 1 ) xplantnow (:, 1 ) = x0 u = NaN ( Nu, Nsim ) for i = 1 : Nsim % Set initial condition and solve.

'ub', struct ( 'x', xub * ones ( 1, N + 1 ), 'u', uub * ones ( Nu, N ))) % Closed-loop simulation. nmpc ( 'f', ode_casadi, 'N', Ncontrol, 'Delta', Delta. colloc % Avoid using terminal constraint (use high terminal penalty instead so % that ipopt can solve the problem). u = linspace ( uprev, usp, N ) Ncontrol. Ncontrol = struct ( 'x', Nx, 'u', Nu, 't', N ) values. ode ( x, u, p, pars ) ode_casadi = mpc. ode ( x, u, 0, pars ) ode_plant = x, u, p ) pars. Nx + 1 xub = xlb = x0 = ze = % Tightened constraints for nominal problem. mpc = import_mpctools () % Read parameters. % % Note: In this script, 'p' denotes the disturbance ('w' in MPC textbook).

xc ) + w dtdt = 1 dxdt = end %functionįunction reference_trajectory = nominalmpc (pars ) % reference_trajectory = nominalmpc(pars) % % Runs nominal NMPC for CSTR example in Chapter 3 to generate the reference % trajectory for tube-based MPC. c = x ( 1 ) T = x ( 2 ) t = x ( 3 ) % Augmented time state for time-varying model. rand ( 'state', 0 ) end %function function dxdt = cstrode (x, u, p, pars ) % Nonlinear ODE model for reactor. ode = cstrode % Set the random number generator seed. plantSteps = 2 % Initial Conditions and Setpoints. Function pars = cstrparam () % Loads default parameters for robust MPC CSTR problem.

Martin mpc 3.7