Question about the simulink MPC control and estimation tools manager.

Hello

I am trying to design a simple controller in Simulink, and I'd like some clarification about the design of an MPC Block.

In the MPC Constraint Softening window, when I specify the relaxation bands, are those bands the Vmin and Vmax defined in the Toolbox user guide as constraints for equation 2.3?

In the same window, is the slider labelled "Overall constraint softness" related to the epsilon defined in the constraints for the same equation? If yes, since epsilon is defined as >=0 while the constraint softness is between 0 and 1, how do the two relate exactly?

In the weight tuning tab are the weights the wi,j defined in equation 2.3? How does the 'rate weight' relate to the same equation?

Again in the Weight tuning tab there is another slider labelled "overall", the value is again from 0 to 1, with the 0 end labelled 'More robust' and the 1 end labelled 'faster response', I don't understand how exactly this affect parameters in equation 2.3, or have I got the wrong end of the stick and maybe is related to the solver used? In any case how is it related?

Sorry for the really beginner's question. It could be that the answers are somewhere in the manual, but I am too dumb to find them.

Thank You

Francesco

[Francesco]

No one?

If the question is stupid, even a RTFM (maybe pointing me to the relevant pages) will do.

Cheerio

[Francesco]

Bump

Am I asking the wrong question? Any feedback would be appreciated, even if it's just to say "we can't tell you".