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# PROJECT 1 – PART 1

## Constrained MPC Unconstrained MPC

In the code, ISE has been calculated for both the cases. In constrained case figure attached, Q/R ratio is considered 1000 by considering R = 1 and Q = 1000.

Constrained Case (Q/R = 1000) Unconstrained Case The results of ISE are very intuitive because the constraints impose restrictions on the output from reaching its
set point and hence, incur higher ISE. Whereas there are no constraints in the unconstraint version and hence it
ISE_OUTPUT1 2.9476 1.0849
can freely reach the set point. Clearly the performance of the Unconstrained MPC is better which can be seen in
ISE_OUTPUT2 3.3222 1.2866 the figure in which at time t = 20, the output in case of unconstrained is much closer to the set point than in the
ISE_TOTAL = ISE1+ISE2 6.2697 2.3715 constrained version. However, Constrained are usually put whenever we have certain limitations on our end.
Optimization of ISE using parameter Q and R

I have taken different Q/R Ratio to analyze the effect of Q and R on the output and ISE. The results of this analysis is attached in the table below:

## Q/R Ratio Log(Q/R) Q R ISE1 ISE2 ISE

0.1 -1 -1 1 3.0474 3.3158 6.3632
0.5 -0.30103 -0.30103 1 2.9707 3.3135 6.2842
1 0 0 1 2.9503 3.3221 6.2724
5 0.69897 0.69897 1 2.946 3.3243 6.2703
10 1 1 1 2.9461 3.324 6.2701
100 2 2 1 2.9471 3.3226 6.2697
1000 3 1000 1 2.9476 3.3222 6.2697

## ISE v/s Q/R Ratio

6.38
6.36

Total ISE
6.34
6.32
6.3
6.28
6.26
-1.5 -1 -0.5 0 0.5 1 1.5 2 2.5 3 3.5
log (Q/R)

Graph clearly shows that after a particular Q/R value, the value of ISE does not change. Any suitable value of Q/R in that segment can be chosen.