%SUMMARY TwoLinkGPC - GPC control of two-link manipulator with delay %DESCRIPTION This composite system provides an illustration %DESCRIPTION of nonlinear GPC (Generalised Predictive Control) control %DESCRIPTION (continuous-time) operating on a twolink manipulator. %% Label file for system TwoLinkGPC (TwoLinkGPC_lbl.txt) % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 1998/04/29 09:01:43 peterg % %% Initial revision % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Each line should be of one of the following forms: % a comment (ie starting with %) % Component-name CR_name arg1,arg2,..argn % blank % Component type SS Ref_1 SS external,internal Ref_2 SS external,internal Tau_1 SS external,internal Tau_2 SS external,internal Theta_1 SS external,0 Theta_2 SS external,0 Theta_1_m SS external,0 Theta_2_m SS external,0 Theta_1_r SS external,0 Theta_2_r SS external,0 % Component type msdP spec_1 spec_2 % Component type TwoLinkP system % Component type TwoLinkPX model