echo on
%  Problem ch17 Problem 1  Using Mpccon & Mpcsim file
% Kartik Arora Date:04-19-01.
%  Purpose:      routines for step response models.
%            The plant considered is SISO with a SISO distrubance plant.
%   2 inputs, 2 outputs system
%	 Plant transfer function:  g11 = 12.8exp(-s)/(16.7s+1);
%    			g12 = -18.9exp(-3s)/(21.0s+1);
%				g21 = 6.6exp(-7s)/(10.9s+1);
% 				g22 = -19.4exp(-3s)/(14.4s+1);
%
%  Build the step response models for as sampling period of 2.
% 
echo off
clear
delt1=0;
delay1=1;
num1=12.8;
den1=[16.7 1];
g11 = poly2tfd(num1,den1,delt1,delay1);
delay2=7;
num2=6.6;
den2=[10.9 1];
g21=poly2tfd(num2,den2,delt1,delay2);
delay3=3;
num3=-18.9;
den3=[21.0 1];
g12=poly2tfd(num3,den3,delt1,delay3);
delay4=3;
num4=-19.4;
den4=[14.4 1];
g22=poly2tfd(num4,den4,delt1,delay4);
%
tfinal =84; 
delt=2;
nout1 = 2;
plant1 = tfd2step(tfinal,delt,nout1,g11,g21,g12,g22);
%
%
%  Calculate the MPC controller gain matrix for
%    No plant/model mismatch,
%    Output Weight = 1, Input Weight = 0
%    Input Horizon = 2, Output Horizon = 20
model1 = plant1;
ywt = [1 1]; uwt = [0 0];
M = 2; P = 20;
Kmpc1 = mpccon(model1,ywt,uwt,M,P);
%
%  Simulate and plot response for unmeasured and measured
%  step disturbance through dplant.
tend = 50;
r = [0 1]; 
dmodel = [];
dstep = 0.0;
[y1,u1] = mpcsim(model1,model1,Kmpc1,tend,r);
plotall([y1],[u1],delt);