1.  
2. profil_cena = [0.17, 0.17, 0.17, 0.17, 0.17, 0.2999, 0.2999, 0.2999, 0.2999, 0.2999, 0.2999, 0.2999, 0.2999, 0.17, 0.17,  0.2999, 0.2999, 0.2999, 0.2999, 0.2999, 0.2999, 0.2999, 0.17, 0.17];
3. profil_poboru = [40, 30, 30, 40, 60, 80, 140, 180, 160, 110, 90, 80, 70, 80, 80, 110, 120, 110, 110, 90, 80, 70, 60, 50];
4.  
5. Hs = 24;
6. Hp = 24;
7. w_u = 1;
8. w_q = 100;
9. v0 = 100;
10. eps_v0 = 50;
11. v_min_max = [50 500];
12. u_min_max = [0 100 100; -100 100 100];
13.  
14.  
15. da = opcda('192.168.1.11', 'Kepware.KEPServerEX.V5');
16. connect(da);
17. grp = addgroup(da, 'Fanuc')
18. itm1 = additem(grp, {'Channel1.Fanuc.pompa'});
19. itm2 = additem(grp, {'Channel1.Fanuc.kat'});
20. itm3 = additem(grp, {'Channel1.Fanuc.flaga3'});
21.  
22. i=1;
23. while(1)
24.    
25.     profil_poboru_new = 0;
26.     profil_cena_new = 0;
27.    
28.     flaga = read(itm3);
29.    
30.     pause(1);
31.  
32.    if flaga.Value == 1
33.    
34.    
35.    
36.     for j = 1:Hs
37.             profil_poboru_new(j) = profil_poboru(j+i-1);
38.             profil_cena_new(j) = profil_cena(j+i-1);
39.     end
40.    
41.    
42.  [U tr_zb koszt Q] = MPC_SW(Hs, Hp, w_u, w_q, v0, eps_v0, v_min_max, u_min_max, profil_cena_new, profil_poboru_new);
43.  
44.     for k = 1:Hs
45.       U(k,2) = 1.1436789*atand(0.05*U(k,2)) + 90;
46.     end
47.    
48.    profil_poboru_new
49.     profil_cena_new
50.     Hs
51.     Hp
52.     U
53.     i
54.  
55.  
56.  
57.  
58.      Hp = Hp - 1;
59.      Hs = Hs - 1;
60.     write(itm1, int16(U(1,1)*320))
61.     write(itm2, int16(U(1,2)*32000/180))
62.    
63.    
64.  
65.    
66.      i = i + 1;
67.      if i == 24
68.          i = 1;
69.          Hp = 24;
70.          Hs = 24;
71.      end
72.      
73.    end
74.     write(itm3, 0);
75. end
76.