EE6225, CA4
Due by: Friday, 14 April 2023, 5pm
Please submit to NTULearn Course Site
INSTRUCTIONS
1. This is a take home assignment and it is open-ended in nature.
2. You are to submit your assignment as MATLAB live scripts (mlx files), document-
ing the simulation results you had obtained.
3. If you are submitting more than one live scripts, please submit them as a ZIP
package and include a readme file describing what each live script does.
4. Include your name as it appear on your matriculation card in all your Matlab live
scripts
5. Late submission will be penalised.
The main aim of this assignment is to let students have a first hand experience in
implementing a MPC controller, and investigate how the various MPC tuning strategies
affected the closed-loop behaviour.
A template is given to you to start you off. You are to modify the template code to
1. build a MPC which has integral action
2. investigate the effect of MPC tuning parameters: N1, N2, Nu and λ
(a) set-point response
(b) disturbance response
3. include constraints in the MPC design
4. build a MPC which can handle MIMO plant
5. investigate effects of modelling error (i.e., Plant and MPC Model not the same),
and
6. any other improvement to the code to earn bonus marks.