MPC Simulink Library Overview The MPC Simulink Library is designed to help you analyze and simulate Model Predictive Control(MPC)modules within any Simulink description of the environment. ptions The MPC Simulink Library supports four controller blocks, to be connected in feedback with the system to regulate. Each block receives output measurements and returns the control input action to the system. The four blocks are the following Regulator. The MPC block regulates the output of the system to zero Controller. An additional reference signal is received by the MPC controller. The output of the system will track such a signal measured input disturbance signals entering the system is received by the mPC controller and taken into account in the computation of the control action Controller with Anticipation. Reference and measured disturbance signals are read from file. This allows knowing future samples when computing the control action 1-21 Introduction 1-2 MPC Simulink Library Overview The MPC Simulink Library is designed to help you analyze and simulate Model Predictive Control (MPC) modules within any Simulink description of the environment. Options The MPC Simulink Library supports four controller blocks, to be connected in feedback with the system to regulate. Each block receives output measurements and returns the control input action to the system. The four blocks are the following: • Regulator. The MPC block regulates the output of the system to zero. • Controller. An additional reference signal is received by the MPC controller. The output of the system will track such a signal. • Controller with Measured Disturbance Rejection. An additional information about measured input disturbance signals entering the system is received by the MPC controller and taken into account in the computation of the control action. • Controller with Anticipation. Reference and measured disturbance signals are read from file. This allows knowing future samples when computing the control action