From fc8ebb0c4ac426af5fd9721a5561ee9c94588e62 Mon Sep 17 00:00:00 2001 From: franckgaga Date: Sat, 18 Nov 2023 14:25:48 -0500 Subject: [PATCH] idem --- src/predictive_control.jl | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/predictive_control.jl b/src/predictive_control.jl index 134b5786..0e0d4822 100644 --- a/src/predictive_control.jl +++ b/src/predictive_control.jl @@ -780,10 +780,11 @@ The linear model predictions are evaluated by : &= \mathbf{E ΔU} + \mathbf{F} \end{aligned} ``` -where predicted outputs ``\mathbf{Ŷ}`` and measured disturbances ``\mathbf{D̂}`` are from ``k -+ 1`` to ``k + H_p``. Input increments ``\mathbf{ΔU}`` are from ``k`` to ``k + H_c - 1``. -The vector ``\mathbf{x̂}_{k-1}(k)`` is the state estimated at the last control period. The -method also computes similar matrices but for the predicted terminal states at ``k+H_p``: +where predicted outputs ``\mathbf{Ŷ}`` and measured disturbances ``\mathbf{D̂}`` are from +``k + 1`` to ``k + H_p``. Input increments ``\mathbf{ΔU}`` are from ``k`` to +``k + H_c - 1``. The vector ``\mathbf{x̂}_{k-1}(k)`` is the state estimated at the last +control period. The method also computes similar matrices but for the predicted terminal +states at ``k+H_p``: ```math \begin{aligned} \mathbf{x̂}_{k-1}(k+H_p)