Description: The controller is now implemented as a monolithic S-function module. I consider this monolithic implementation an improvement over the one I described in my paper, but the underlying algorithm is the same.
To suit the model to a particular application at hand, the reader needs only to modify several lines in GpcControl.m, namely the lines setting n, p, m, alpha, beta, Q, R. Other lines can be kept intact.
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File list (Check if you may need any files):
MEC13-YPCHENG.pdf
GpcControl.m
SSGPC.mdl
ReadMe-SSGPC.txt
license.txt
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