Repeat Exercise 20.9 for the situation where the input constraints have been changed to -0.3 and+0.3.

Table E20.9 MATLAB Program. (Based on a program by Morari and Ricker (1994).) gl1-poly2tfd(12.8.(16.7 1),0,1); % model g21=poly2tfd(6.6,[10.9 1],0,7); g12=poly2tfd(-18.9,[21.0 11.0,3); g22=poly2tfd(-19.4,(14.4 1],0,3); gd1-poly2tfd(3.8,[14.9 1),0,8.1); gd2-poly2tfd(4.9,{13.2 1],0,3.4); tfinal=120; delt=1; ny=2; model=tfd2step(tfinal,delt,ny,g11,g21,g12.g22) plant=model; % No plant/model mismatch dmodel=[] dplant=tfd2step(tfinal,delt,ny.gd1,gd2) P=10; M=5; % Horizons ywt=[1 1]; uwt=[0.1 0.1]; % Q and R tend=120; r=[0 1]; % Set-point change in XB a=zeros([1,tend}); for i-51:tend a(i)=0.3*2.45; % 30 % step in F at t=50 min. % Model horizon, N % Sampling period % Number of outputs % Default disturbance model % Final time for simulation end dstep=[a'); ulim-(-.15 -.15.15 .15 1000 1000]; % u limits ylim=[); tfilter=[ ]; [y1,ul]cmpc(plant,model.ywt,uwt,M,P,tend,r, ulim,ylin, tfilter, dplant,dmodel,dstep); figure(1) subplot(211) plot(yl) legend('XD','XB') xlabel('"Time (min)') subplot(212) stairs(ul) % Plot inputs as staircase functions legend('R','S') xlabel("Time (min)') % No y limits