预测控制程序

g11=poly2tfd（1.77[60 1]028）;
g12=poly2tfd（5.88[50 1]027）;
g21=poly2tfd（5.72[60 1]014）;
g22=poly2tfd（6.90[40 1]015）;
g31=poly2tfd（4.42[44 1]00）;
g32=poly2tfd（7.20[19 1]00）;
delt=2;
tfinal=50;
ny=3;
model=tfd2step（tfinaldeltnyg11g12g21g22g31g32）;
plant=model;
p=30;
m=4;
ywt=[10 5 1];
uwt=[1 1];
tend=800;
r=[0.59 0.64 0.67];
%ulim=[];
ulim=[-0.5 -0.5 0.5 0.5 0.02 0.02]