Design and simulate model predictive controllers
The MPC Designer app lets you design and simulate model predictive controllers in MATLAB® and Simulink®.
Using this app, you can:
Interactively design model predictive controllers and validate their performance using simulation scenarios
Obtain linear plant models by linearizing Simulink models (requires Simulink Control Design™)
Review controller designs for potential run-time stability or numerical issues
Compare response plots for multiple model predictive controllers
Generate Simulink models with an MPC controller and plant model
Generate MATLAB scripts to automate MPC controller design and simulation tasks
The following advanced MPC features are not available in the MPC Designer app.
Explicit MPC design
Adaptive MPC design
Nonlinear MPC design
Mixed input/output constraints (
Terminal weight specification (
Custom state estimation (
Sensitivity analysis (
Alternative cost functions with off-diagonal weights
Specification of initial plant and controller states for simulation
Specification of nominal state values using
Updating weights, constraints, MV targets, and external MVs online during simulations
If your application requires any of these features, design and simulate your controller at the command line. You can also run simulations in Simulink when using these features.
When using MPC Designer in MATLAB Online™, the following features are not available.
Finding an operating point for linearizing a Simulink model using trimming or simulation snapshots. Instead, you must linearize your model at the model initial conditions.
Generating Simulink models for your controller and plant.
Open the MPC Designer App
MATLAB Toolstrip: On the Apps tab, under Control System Design and Analysis, click the app icon.
MATLAB command prompt: Enter
Simulink model editor: In the MPC Controller Block Parameters dialog box, click Design.
mpcDesigner opens the MPC Designer app. You can
then import a plant or controller to start the design process, or open a saved
plant is a stable, continuous-time LTI system, MPC
Designer sets the controller sample time to 0.1 Tr, where Tr is the average
rise time of the plant. If
plant is an unstable,
continuous-time system, MPC Designer sets the controller sample time to
By default, plant input and output signals are treated as manipulated variables
and measured outputs respectively. To specify a different input/output channel
setmpcsignals before opening MPC
You can also specify plant as a linear System Identification Toolbox™ model, such as an
idss (System Identification Toolbox) or
idtf (System Identification Toolbox) system. The app converts the
identified model to a state-space system, discarding any noise channels. To convert
noise channels to unmeasured disturbances, convert the identified model to a
state-space model using the
'augmented' option. For more
information on identifying plant models, see Identify Plant from Data.
mpcDesigner( opens the app and
imports the model predictive controller
MPCobj from the
MATLAB workspace. To create an MPC controller, use
mpcDesigner( opens the app and
imports multiple MPC controllers specified in the cell array
MPCobjs. All of the controllers in
MPCobjs must have the same input/output channel
additionally specifies controller names when opening the app with multiple MPC
names as a cell array of character vectors
or string array with the same length as
MPCobjs. Specify a
unique name for each controller.
mpcDesigner( opens the app
and loads a previously saved session. Specify
one of the following:
The name of a session data file in the current working directory or on the MATLAB path, specified as a character vector or string. To save session data to disk, in the MPC Designer app, on the MPC Designer tab, click Save Session. The saved session data includes all plants, controllers, and scenarios in the Data Browser, the current MPC structure, and the current plot configuration.
A previously loaded
SessionDataobject in the MATLAB workspace. To load a
SessionDataobject from a session data file, at the command line, enter:
Version HistoryIntroduced in R2015b
R2021b: Support for opening MPC Design Tool sessions saved before release R2015b has been removed
Errors starting in R2021b
Support for opening MPC Design Tool sessions saved before release R2015b has been removed in release R2021b.
If you have sessions saved before release R2015b, open and resave the session files using MPC Designer in any release from R2015b through R2021a.