MPC controller with MLP model

bcomp/lib/rt/src/rt_plc_bcomp.c

@@ -39,6 +39,7 @@
 
 #include "co_math.h"
 #include "co_time.h"
+#include "co_dcli.h"
 #include "rt_plc_bcomp.h"
 
 /*_*
@@ -1203,7 +1204,7 @@ static void mpc_tscan(plc_sThread* tp, pwr_sClass_CompMPC_Fo* o,
   float out;
   float av;
   float av0; // Previous procvalue
-  float omin, omax, omiddle;
+  float omin, omax, omiddle, oramp;
   float timestep;
 
   switch (co->Algorithm) {
@@ -1232,22 +1233,28 @@ static void mpc_tscan(plc_sThread* tp, pwr_sClass_CompMPC_Fo* o,
     timestep = co->TStep;
   }
 
+  oramp = co->OutRamp;
+  if (co->OutRampCloseInterval != 0.0f) {
+    if ( fabsf(*o->SetValueP - *o->ProcValueP) < co->OutRampCloseInterval)
+      oramp = co->OutRampClose;
+  }
+
   for (i = 0; i < co->SSize; i++) {
     if (iter == 0) {
       if (tix == 0)
 	omiddle = o->OutValue;
       else
 	omiddle = vacc[tix-1][vix[tix-1]-1].output;
-      omax = MIN(omiddle + co->OutRamp * timestep, co->OutMax);
-      omin = MAX(omiddle - co->OutRamp * timestep, co->OutMin);
+      omax = MIN(omiddle + oramp * timestep, co->OutMax);
+      omin = MAX(omiddle - oramp * timestep, co->OutMin);
     }
     else {
       if (tix == 0)
 	omiddle = iter_vout[tix];
       else
 	omiddle = vacc[tix-1][vix[tix-1]-1].output + iter_vout[tix] - iter_vout[tix-1];
-      omax = MIN(omiddle + co->OutRamp * timestep/(iter*2), co->OutMax);
-      omin = MAX(omiddle - co->OutRamp * timestep/(iter*2), co->OutMin);
+      omax = MIN(omiddle + oramp * timestep/(iter*2), co->OutMax);
+      omin = MAX(omiddle - oramp * timestep/(iter*2), co->OutMin);
     }
     out = omin + (omax - omin)/(co->SSize - 1) * i;
     if (tix == 0)
@@ -1354,6 +1361,481 @@ void CompMPC_Fo_exec(plc_sThread* tp, pwr_sClass_CompMPC_Fo* o)
   vix = (int *)calloc(1, co->TSize * sizeof(unsigned int));
   mpc_tscan(tp, o, co, 0, vix, 0, 0);
 
+  min_acc = 0;
+  for (i = 0; i < pow(co->SSize, co->TSize); i++) {
+    if (vacc[co->TSize-1][i].acc < vacc[co->TSize-1][min_acc].acc)
+      min_acc = i;	
+  }
+
+  idx = min_acc;
+  for (i = co->TSize - 1; i >= 0; i--) {
+    idx = idx / co->SSize;
+  }
+
+  vout = (float *)malloc(co->TSize * sizeof(float));
+  for ( j = 0; j < 3; j++) {
+    idx = min_acc;
+    for (i = co->TSize - 1; i >= 0; i--) {
+      vout[i] = vacc[i][idx].output;
+      idx = idx / co->SSize;
+    }
+
+    for (i = 0; i < co->TSize; i++) {
+      size = pow(co->SSize, i+1);
+      memset(vacc[i], 0,  size * sizeof(t_vacc));
+    }
+    memset(vix, 0, co->TSize * sizeof(unsigned int));
+    mpc_tscan(tp, o, co, 0, vix, j+1, vout);
+
+    min_acc = 0;
+    for (i = 0; i < pow(co->SSize,co->TSize); i++) {
+      if (vacc[co->TSize-1][i].acc < vacc[co->TSize-1][min_acc].acc)
+	min_acc = i;	
+    }
+
+    idx = min_acc;
+    for (i = co->TSize - 1; i >= 0; i--) {
+      if (i == 0)
+	break;
+      idx = idx / co->SSize;
+    }
+  }
+  free(vix);
+  free(vout);
+
+  co->CurrentPath = min_acc;
+  co->Error = *o->SetValueP - *o->ProcValueP;
+  switch (co->Algorithm) {
+  case pwr_eMpcAlgorithm_FirstScanTimeStep:
+    o->OutValue = vacc[0][idx].output;
+    break;
+  default:
+    o->OutValue += (vacc[0][idx].output - o->OutValue) * tp->f_scan_time / co->TStep * co->Gain;
+
+  }
+  co->OutValue = o->OutValue;
+}
+
+/* CompMPC_MLP */
+
+typedef enum {
+  mlp_eActivation_No = 0,
+  mlp_eActivation_Identity = 1,
+  mlp_eActivation_Logistic = 2,
+  mlp_eActivation_Tanh = 3,
+  mlp_eActivation_Relu = 4
+} mlp_eActivation;
+
+typedef struct {
+  unsigned int layers;
+  unsigned int *layer_sizes;
+  mlp_eActivation activation;
+  double **intercepts;
+  double ***coefs;
+  double **h;
+  double *inputs;
+  double aval[20];
+  pwr_tFloat32 *outlist;
+  unsigned int outlist_size;
+  unsigned int outlist_idx;
+} mlp_sCtx, *mlp_tCtx;
+
+
+void outlist_insert(mlp_tCtx mlp, pwr_tFloat32 out)
+{
+  mlp->outlist[mlp->outlist_idx] = out;
+  mlp->outlist_idx++;
+  if (mlp->outlist_idx >= mlp->outlist_size)
+    mlp->outlist_idx = 0;
+}
+
+pwr_tFloat32 outlist_get(mlp_tCtx mlp, unsigned int idx)
+{
+  int i;
+  if (idx >= mlp->outlist_size)
+    idx = mlp->outlist_size - 1;
+  i = mlp->outlist_idx - 1 - idx;
+  if (i < 0)
+    i += mlp->outlist_size;
+  return mlp->outlist[i];
+}
+
+void mpc_mlp_imodel(mlp_tCtx mlp, double *x, double *out)
+{
+  unsigned int i, j, k;
+
+  for (i = 0; i < mlp->layers - 1; i++) {
+    for (j = 0; j < mlp->layer_sizes[i+1]; j++) {
+      mlp->h[i][j] = mlp->intercepts[i][j];
+      for (k = 0; k < mlp->layer_sizes[i]; k++) {
+	if (i == 0) {
+	  mlp->h[i][j] += mlp->coefs[i][j][k] * x[k];
+	}
+	else
+	  mlp->h[i][j] += mlp->coefs[i][j][k] * mlp->h[i-1][k];
+      }
+      if (i != mlp->layers - 2) {
+	switch (mlp->activation) {
+	case mlp_eActivation_Tanh:
+	  mlp->h[i][j] = tanh(mlp->h[i][j]);
+	  break;
+	case mlp_eActivation_Identity:
+	  break;
+	case mlp_eActivation_Relu:
+	  if (mlp->h[i][j] < 0)
+	    mlp->h[i][j] = 0;
+	  break;
+	case mlp_eActivation_Logistic:
+	  mlp->h[i][j] = 1.0/(1.0 - exp(-mlp->h[i][j]));
+	  break;
+	default: ;
+	}
+      }
+    }
+  }
+  *out = mlp->h[mlp->layers - 2][0];
+}
+
+int mpc_mlp_import(const char *file, mlp_sCtx *mlp)
+{
+  pwr_tFileName fname;
+  FILE *fp;
+  char line[2000];
+  unsigned int i, j, k;
+  char *s;
+
+  dcli_translate_filename(fname, file);
+  fp = fopen(fname, "r");
+  if (!fp)
+    return 0;
+
+  while (dcli_read_line(line, sizeof(line), fp)) {
+    if (strncmp(line, "Layers ", 7) == 0) {
+      if (sscanf(&line[7], "%d", &mlp->layers) != 1) {
+	printf("Syntax error\n");
+	return 0;
+      }
+    }
+    else if (strncmp(line, "LayerSizes ", 11) == 0) {
+      mlp->layer_sizes = (unsigned int *)calloc(mlp->layers, sizeof(int));
+      s = line;
+      for (i = 0; i < mlp->layers; i++) {
+	s = strchr(s, ' ');
+	if (!s) {
+	  printf("Syntax error\n");
+	  return 0;
+	}
+	s++;
+	if (sscanf(s, "%d", &mlp->layer_sizes[i]) != 1) {
+	  printf("Syntax error\n");
+	  return 0;
+	}
+      }
+    }
+    else if (strncmp(line, "Activation ", 11) == 0) {
+       if (strcmp(&line[11], "identity") == 0)
+	 mlp->activation = mlp_eActivation_Identity;
+       else if (strcmp(&line[11], "logistic") == 0)
+	 mlp->activation = mlp_eActivation_Logistic;
+       else if (strcmp(&line[11], "tanh") == 0)
+	 mlp->activation = mlp_eActivation_Tanh;
+       else if (strcmp(&line[11], "relu") == 0)
+	 mlp->activation = mlp_eActivation_Relu;
+       else
+	 mlp->activation = mlp_eActivation_No;
+    }
+    else if (strncmp(line, "Intercepts", 9) == 0) {
+      mlp->intercepts = (double **)calloc(mlp->layers - 1, sizeof(double *));
+      for (i = 0; i < mlp->layers - 1; i++)
+	mlp->intercepts[i] = (double *)calloc(mlp->layer_sizes[i+1], sizeof(double));
+      for (i = 0; i < mlp->layers - 1; i++) {
+	dcli_read_line(line, sizeof(line), fp);
+	s = line;
+	for (j = 0; j < mlp->layer_sizes[i+1]; j++) {
+	  if (j != 0) {
+	    s = strchr(s, ' ');
+	    s++;
+	  }
+	  if (sscanf(s, "%lf", &mlp->intercepts[i][j]) != 1) {
+	    printf("Syntax error\n");
+	    return 0;
+	  }
+	}
+      }	
+    }
+    else if (strncmp(line, "Coefs", 5) == 0) {
+      unsigned int i1, j1, k1;
+
+      mlp->coefs = (double ***)calloc(mlp->layers, sizeof(double **));
+      for (i = 0; i < mlp->layers - 1; i++) {
+	mlp->coefs[i] = (double **)calloc(mlp->layer_sizes[i+1], sizeof(double));
+	for ( j = 0; j < mlp->layer_sizes[i+1]; j++) {
+	  mlp->coefs[i][j] = (double *)calloc(mlp->layer_sizes[i], sizeof(double));
+	}
+      }
+      for (i = 0; i < mlp->layers - 1; i++) {
+	for (j = 0; j < mlp->layer_sizes[i+1]; j++) {
+	  for (k = 0; k < mlp->layer_sizes[i]; k++) {
+	    dcli_read_line(line, sizeof(line), fp);
+	    sscanf(line, "%d %d %d %lf", &i1, &j1, &k1, &mlp->coefs[i][j][k]);
+	    if (i1 != i || j1 != j || k1 != k)
+	      printf("Syntax error\n");
+	  }
+	}	    
+      }	
+    }
+  }
+
+  fclose(fp);
+
+  /* Allocate weights */
+  mlp->h = (double **)calloc(mlp->layers - 1, sizeof(double *));
+  for (i = 0; i < mlp->layers - 1; i++) {
+    mlp->h[i] = (double *)calloc(mlp->layer_sizes[i+1], sizeof(double));
+  }
+  return 1;
+}
+
+float mpc_mlpacc_model(plc_sThread* tp, pwr_sClass_CompMPC_MLP_Fo *o, 
+		       pwr_sClass_CompMPC_MLP *co, 
+		       float out, float av0, float timestep, int tix, int *vix)
+{
+  float av;
+  double val;
+  int i, idx;
+
+  switch (co->Type) {
+  case pwr_eMlpType_Normal:
+    for (i = 0; i < co->LayerSizes[0]; i++) {
+      if ( i == 0) {
+	((mlp_tCtx)o->ModelP)->inputs[i] = (double)out;
+      }
+      else {
+	((mlp_tCtx)o->ModelP)->inputs[i] = (double)(**(pwr_tFloat32 **)((char *)&o->Attr2P + pwr_cInputOffset * (i - 1)));
+      }
+    }
+    break;
+
+  case pwr_eMlpType_Accumulating:
+    for (i = 0; i < co->LayerSizes[0]; i++) {
+      if (i == 0) {
+	((mlp_tCtx)o->ModelP)->inputs[i] = (double)out;
+      }
+      else if (i < co->TSize + 1) {
+	/* Backshifted output value */
+	if (i > tix) {
+	  if (i == tix + 1)
+	    idx = 0;
+	  else
+	    idx = (i - tix - 1) * co->TStep / tp->f_scan_time - 1;
+	  ((mlp_tCtx)o->ModelP)->inputs[i] = outlist_get((mlp_tCtx)o->ModelP, idx);
+	}
+	else
+	  ((mlp_tCtx)o->ModelP)->inputs[i] = ((t_vacc **)co->Vacc)[tix-i][vix[tix-i]-1].output;
+      }
+      else {
+	((mlp_tCtx)o->ModelP)->inputs[i] = (double)(**(pwr_tFloat32 **)((char *)&o->Attr2P + pwr_cInputOffset * (i - co->TSize - 1)));
+      }
+    }
+    break;
+  }
+
+  mpc_mlp_imodel((mlp_tCtx)o->ModelP, ((mlp_tCtx)o->ModelP)->inputs, &val);
+  av = (pwr_tFloat32)val; 
+
+  return av;
+} 
+
+void mpc_mlpacc_tscan(plc_sThread* tp, pwr_sClass_CompMPC_MLP_Fo* o, 
+	       pwr_sClass_CompMPC_MLP* co, int tix, int *vix, 
+	       int iter, float *iter_vout)
+{
+  if (tix == co->TSize)
+    return;
+
+  t_vacc **vacc = (t_vacc **)co->Vacc;
+  int i;
+  float t;
+  float out;
+  float av;
+  float av0; // Previous procvalue
+  float omin, omax, omiddle;
+  float timestep;
+  float oramp;
+
+  switch (co->Algorithm) {
+  case pwr_eMpcAlgorithm_ProgressiveTimeStep:
+  case pwr_eMpcAlgorithm_ProgressiveTimeStepMC:
+    t = 0;
+    timestep = co->TStep;
+    for (i = 1; i < tix; i++) {
+      t += timestep;
+      timestep *= co->TStepFactor;
+    }
+    break;
+  case pwr_eMpcAlgorithm_FirstScanTimeStep:
+  case pwr_eMpcAlgorithm_FirstScanTimeStepMC:
+    if (tix == 0) {
+      t = 0;
+      timestep = co->TStepFirst;
+    }
+    else {
+      t = co->TStepFirst + co->TStep * (tix - 1);
+      timestep = co->TStep;
+    }
+    break;
+  default:
+    t = (float)(co->TStep * tix);
+    timestep = co->TStep;
+  }
+
+  oramp = co->OutRamp;
+  if (co->OutRampCloseInterval != 0.0f) {
+    if ( fabsf(*o->SetValueP - *o->ProcValueP) < co->OutRampCloseInterval)
+      oramp = co->OutRampClose;
+  }
+
+  for (i = 0; i < co->SSize; i++) {
+    if (iter == 0) {
+      if (tix == 0)
+	omiddle = o->OutValue;
+      else
+	omiddle = vacc[tix-1][vix[tix-1]-1].output;
+      omax = MIN(omiddle + oramp * timestep, co->OutMax);
+      omin = MAX(omiddle - oramp * timestep, co->OutMin);
+    }
+    else {
+      if (tix == 0)
+	omiddle = iter_vout[tix];
+      else
+	omiddle = vacc[tix-1][vix[tix-1]-1].output + iter_vout[tix] - iter_vout[tix-1];
+      omax = MIN(omiddle + oramp * timestep/(iter*2), co->OutMax);
+      omin = MAX(omiddle - oramp * timestep/(iter*2), co->OutMin);
+    }
+    out = omin + (omax - omin)/(co->SSize - 1) * i;
+    if (tix == 0)
+      av0 = *o->ProcValueP;
+    else
+      av0 = vacc[tix-1][vix[tix]/co->SSize].value;
+
+    av = mpc_mlpacc_model(tp, o, co, out, av0, timestep, tix, vix); 
+    vacc[tix][vix[tix]].output = out;
+    vacc[tix][vix[tix]].value = av;
+    if (tix > 0)
+      vacc[tix][vix[tix]].acc = vacc[tix-1][vix[tix-1]-1].acc;
+
+    switch (co->Algorithm) {
+    case pwr_eMpcAlgorithm_FixTimeStepModelCorr:
+    case pwr_eMpcAlgorithm_ProgressiveTimeStepMC:
+    case pwr_eMpcAlgorithm_FirstScanTimeStepMC:
+      vacc[tix][vix[tix]].acc += fabs(av - (co->SetValue + co->ModelCorr));
+      break;
+    default:
+      vacc[tix][vix[tix]].acc += fabs(av - co->SetValue);
+    }
+    // printf("acc[%2d][%2d] %7.2f     sp %7.2f out %7.2f\n", tix, vix[tix], vacc[tix][vix[tix]].acc, co->SetValue, out);      
+    vix[tix]++;  
+
+    mpc_mlpacc_tscan(tp, o, co, tix+1, vix, iter, iter_vout);
+  }
+}
+
+
+/*_*
+  CompMPC_MLP_Fo
+
+  @aref compmpc_mlp_fo CompMPC_MLP_Fo
+*/
+void CompMPC_MLP_Fo_init(pwr_sClass_CompMPC_MLP_Fo* o)
+{
+  t_vacc **vacc;
+  int size;
+  int i;
+  pwr_sClass_CompMPC_MLP *co;
+  pwr_tDlid dlid;
+  pwr_tStatus sts;
+
+  sts = gdh_DLRefObjectInfoAttrref(
+      &o->PlcConnect, (void**)&o->PlcConnectP, &dlid);
+  if (EVEN(sts))
+    o->PlcConnectP = 0;
+
+  co = (pwr_sClass_CompMPC_MLP *)o->PlcConnectP;
+  if (!co)
+    return;
+
+  co->NoOfPaths = 0;
+  co->Vacc = malloc(co->TSize * sizeof(float*));
+  vacc = (t_vacc **)co->Vacc;
+  for (i = 0; i < co->TSize; i++) {
+    size = pow(co->SSize, i+1);
+    vacc[i] = (t_vacc *)malloc(size * sizeof(t_vacc));
+    memset(vacc[i], 0,  size * sizeof(t_vacc));
+    co->NoOfPaths += size;
+  }
+
+  o->ModelP = (mlp_tCtx)calloc(1, sizeof(mlp_sCtx));
+  co->Status = mpc_mlp_import(co->ModelFile, (mlp_tCtx)o->ModelP);
+  if (EVEN(co->Status))
+    return;
+
+  co->Layers = ((mlp_tCtx)o->ModelP)->layers;
+  for (i = 0; i < MIN(co->Layers, sizeof(co->LayerSizes)/sizeof(co->LayerSizes[0])); i++)
+    co->LayerSizes[i] = ((mlp_tCtx)o->ModelP)->layer_sizes[i];
+    
+  ((mlp_tCtx)o->ModelP)->inputs = (double *)calloc(((mlp_tCtx)o->ModelP)->layer_sizes[0],
+						   sizeof(double));
+}
+
+void CompMPC_MLP_Fo_exec(plc_sThread* tp, pwr_sClass_CompMPC_MLP_Fo* o)
+{
+  t_vacc **vacc;
+  int i, j;
+  int min_acc;
+  int *vix;
+  float *vout;
+  int idx;
+  int size;
+  pwr_sClass_CompMPC_MLP *co = (pwr_sClass_CompMPC_MLP *)o->PlcConnectP;
+
+  if (!co)
+    return;
+
+  if (((mlp_tCtx)o->ModelP)->outlist == 0) {
+    ((mlp_tCtx)o->ModelP)->outlist_size = co->TSize * lroundf(co->TStep / tp->f_scan_time);
+    ((mlp_tCtx)o->ModelP)->outlist = (pwr_tFloat32 *)calloc(((mlp_tCtx)o->ModelP)->outlist_size, sizeof(pwr_tFloat32));
+  }
+
+  co->ProcValue = o->ProcValue = *o->ProcValueP;
+  co->SetValue = o->SetValue = *o->SetValueP;
+  co->ForceValue = o->ForceValue = *o->ForceValueP;
+  co->Force = o->Force = *o->ForceP;
+
+  if (*o->ForceP) {
+    o->OutValue = *o->ForceValueP;
+    outlist_insert((mlp_tCtx)o->ModelP, o->OutValue);
+    co->ModelValue = mpc_mlpacc_model(tp, o, co, o->OutValue, 0, co->TStep, -1, 0);   
+    return;
+  }
+
+  /* SetValue correction */
+  switch (co->Algorithm) {
+  case pwr_eMpcAlgorithm_FixTimeStepModelCorr:
+  case pwr_eMpcAlgorithm_ProgressiveTimeStepMC:
+  case pwr_eMpcAlgorithm_FirstScanTimeStepMC:
+    if ( fabs(*o->SetValueP - *o->ProcValueP) < co->ModelCorrInterval)
+      co->ModelCorr += (*o->SetValueP - *o->ProcValueP) * (*o->ScanTime) / co->ModelCorrIntTime;
+    else
+      co->ModelCorr = 0;
+    break;
+  default:
+    co->ModelCorr = 0;
+  }
+
+  vacc = (t_vacc **)co->Vacc;
+  vix = (int *)calloc(1, co->TSize * sizeof(unsigned int));
+  mpc_mlpacc_tscan(tp, o, co, 0, vix, 0, 0);
+
   min_acc = 0;
   for (i = 0; i < pow(co->SSize, co->TSize); i++) {
     if (vacc[co->TSize-1][i].acc < vacc[co->TSize-1][min_acc].acc)
@@ -1384,7 +1866,7 @@ void CompMPC_Fo_exec(plc_sThread* tp, pwr_sClass_CompMPC_Fo* o)
       memset(vacc[i], 0,  size * sizeof(t_vacc));
     }
     memset(vix, 0, co->TSize * sizeof(unsigned int));
-    mpc_tscan(tp, o, co, 0, vix, j+1, vout);
+    mpc_mlpacc_tscan(tp, o, co, 0, vix, j+1, vout);
 
     min_acc = 0;
     for (i = 0; i < pow(co->SSize,co->TSize); i++) {
@@ -1418,4 +1900,6 @@ void CompMPC_Fo_exec(plc_sThread* tp, pwr_sClass_CompMPC_Fo* o)
 
   }
   co->OutValue = o->OutValue;
+  outlist_insert((mlp_tCtx)o->ModelP, o->OutValue);
+  co->ModelValue = mpc_mlpacc_model(tp, o, co, co->OutValue, 0, co->TStep, -1, 0);   
 }

bcomp/mmi/bcomp/src/pwr_c_compmpc_mlp.pwg

+0! DefaultWidth 1013
+0! DefaultHeight 640
+199
+!/**
+! TempSwitch
+! Group Components/BaseComponent
+!
+! <image> bcomp_tempswitch_gs.gif
+!
+! <h1>Description
+! Temperature switch. Graphic symbol for basecomponent BaseTempSwitch.
+! Should be connected to an instance of BaseTempSwitch, or a 
+! subclass to this class.
+!
+! <h1>Default dynamics
+! HostObject <link>GeDynHostObject, ,$pwr_lang/man_geref.dat
+!
+! Dynamics for the symbol
+! - flashing red at alarm status.
+! - popupmenu with the methods of the connected object.
+!
+! DigFlash <t>$hostobject.AlarmStatus <link>GeDynDigFlash, ,$pwr_lang/man_geref.dat
+! PopupMenu <t>$hostobject <link>GeDynPopupMenu, ,$pwr_lang/man_geref.dat
+!
+! Default Cycle Slow 
+!
+!*/
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bcomp/wbl/bcomp/src/basecomponent.wb_load

+!     Generated by wb_print_wbl 05-JUL-2019 12:28:03.51
+!     Volume BaseComponent 
+!     Version V5.6.1
 Volume BaseComponent $ClassVolume 0.0.0.10 
   Body SysBody 01-JAN-1970 01:00:00.00
-    Attr NextOix = "_X11961"
-    Attr NextCix = "_X214"
-    Attr NextTix[0] = "_X25"
+    Attr NextOix = "_X11968"
+    Attr NextCix = "_X216"
+    Attr NextTix[0] = "_X26"
   EndBody
   Object Type $TypeHier 87 08-SEP-2005 13:01:47.00
     Object ModeEnum $TypeDef 1 08-SEP-2005 13:01:47.00
@@ -1473,6 +1476,25 @@ Volume BaseComponent $ClassVolume 0.0.0.10
         EndBody
       EndObject
     EndObject
+    Object MlpType $TypeDef 25 05-JUL-2019 12:14:13.72
+      Body SysBody 05-JUL-2019 12:14:13.72
+        Attr TypeRef = "pwrs:Type-$Enum"
+        Attr Elements = 1
+      EndBody
+      Object Normal $Value 11962 05-JUL-2019 12:14:13.72
+        Body SysBody 05-JUL-2019 12:14:13.72
+          Attr Text = "Normal"
+          Attr PgmName = "Normal"
+        EndBody
+      EndObject
+      Object Accumulating $Value 11963 05-JUL-2019 12:14:13.72
+        Body SysBody 05-JUL-2019 12:14:13.72
+          Attr Text = "Accumulating"
+          Attr PgmName = "Accumulating"
+          Attr Value = 1
+        EndBody
+      EndObject
+    EndObject
   EndObject
   Object Class $ClassHier 1 08-SEP-2005 13:01:47.00
     !/**
@@ -54485,7 +54507,7 @@ and no Auto/Man button."
     ! 
     !  The MPC controller uses an internal model of the process to find the
     !  optimal output.
-    !
+    ! 
     !  @image orm_compmpc_og.png
     ! 
     !  @h1 Model
@@ -54496,7 +54518,7 @@ and no Auto/Man button."
     !  The optimal output is calculated in an interative sequence where a number
     !  of possible paths for the output in the future are calculated, and the path
     !  with the lowest integrated error is selected.
-    !
+    ! 
     !  @b See also
     !  @classlink CompMPC_Fo basecomponent_compmpc_fo.html
     !  @classlink CompModePID basecomponent_compmodepid.html
@@ -54510,7 +54532,7 @@ and no Auto/Man button."
       Object RtBody $ObjBodyDef 1 14-MAY-2019 12:16:43.85
         Body SysBody 14-MAY-2019 12:16:43.85
           Attr StructName = "CompMPC"
-          Attr NextAix = "_X176"
+          Attr NextAix = "_X178"
         EndBody
         !/**
         !  Process value.
@@ -54578,7 +54600,7 @@ and no Auto/Man button."
           EndBody
         EndObject
         !/**
-        !  Minimum OutValue.
+        !  Lower limit of OutValue range.
         !*/
         Object OutMin $Attribute 145 14-MAY-2019 12:16:43.85
           Body SysBody 14-MAY-2019 12:16:43.85
@@ -54588,7 +54610,7 @@ and no Auto/Man button."
           EndBody
         EndObject
         !/**
-        !  Maximum OutValue.
+        !  Upper limit of OutValue range.
         !*/
         Object OutMax $Attribute 146 14-MAY-2019 12:16:43.85
           Body SysBody 14-MAY-2019 12:16:43.85
@@ -54608,7 +54630,7 @@ and no Auto/Man button."
           EndBody
         EndObject
         !/**
-        !  Minimum SetValue.
+        !  Lower limit of SetValue range.
         !*/
         Object SetMin $Attribute 148 14-MAY-2019 12:16:43.85
           Body SysBody 14-MAY-2019 12:16:43.85
@@ -54618,7 +54640,7 @@ and no Auto/Man button."
           EndBody
         EndObject
         !/**
-        !  Maximum SetValue.
+        !  Upper limit of SetValue range.
         !*/
         Object SetMax $Attribute 149 14-MAY-2019 12:16:43.85
           Body SysBody 14-MAY-2019 12:16:43.85
@@ -54674,7 +54696,7 @@ and no Auto/Man button."
         EndObject
         !/**
         !  Number of time steps in the predictive calculation.
-	!  The number of paths, and CPU load, will grow exponentially
+        !  The number of paths, and CPU load, will grow exponentially
         !  with TStep.
         !*/
         Object TStep $Attribute 154 14-MAY-2019 12:16:43.85
@@ -54697,7 +54719,7 @@ and no Auto/Man button."
         EndObject
         !/**
         !  Factor for increment of the time step when algotithm ProgressiveTimeStep
-	!  or ProgressiveTimeStepMC is used.
+        !  or ProgressiveTimeStepMC is used.
         !*/
         Object TStepFactor $Attribute 156 14-MAY-2019 12:16:43.85
           Body SysBody 14-MAY-2019 12:16:43.85
@@ -54827,6 +54849,31 @@ and no Auto/Man button."
           EndBody
         EndObject
         !/**
+        !  Maximum ramp of out value when the error is less than 
+        !  OutRampCloseInterval.
+        !  Minor fluctuations at steady state can in some cases be reduced
+	!  by increasing the ramp. Note that the interval should be kept 
+	!  small as this restriction is not part of the prediction.
+        !*/
+        Object OutRampClose $Attribute 176 05-JUL-2019 12:27:56.19
+          Body SysBody 05-JUL-2019 12:27:56.19
+            Attr PgmName = "OutRampClose"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Distance from the SetValue when the output ramp is restricted
+        !  to OutRampClose.
+        !*/
+        Object OutRampCloseInterval $Attribute 177 05-JUL-2019 12:27:56.19
+          Body SysBody 05-JUL-2019 12:27:56.19
+            Attr PgmName = "OutRampCloseInterval"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
         !  Control error, the difference between  SetValue and ProcValue.
         !*/
         Object Error $Attribute 168 14-MAY-2019 12:16:43.85
@@ -54948,7 +54995,7 @@ and no Auto/Man button."
     ! 
     !  For mode object the CompModePID can be used.
     !  @image orm_compmpc_fo_1.png
-    !
+    ! 
     !  @b See also
     !  @classlink CompMPC basecomponent_compmpc.html
     !  @classlink CompModePID_Fo basecomponent_compmodepid_fo.html
@@ -55321,6 +55368,826 @@ and no Auto/Man button."
     EndObject
     !/**
     !  @Version 1.0
+    !  @Author cs
+    !  @Code rt_plc_bcomp.c
+    !  @Summary Model Predictive Control with MLP neural network.
+    !  Model Predictive Control with MLP neural network.
+    ! 
+    !  The MPC controller uses an internal model of the process to find the
+    !  optimal output.
+    ! 
+    !  @image orm_compmpc_mlp_og.png
+    ! 
+    !  @h1 Model
+    !  The model is created with the MLPRegressor from a set of data feched
+    !  from a sev server or stored by the logging function in Xtt.
+    ! 
+    !  @h1 Optimization
+    !  The optimal output is calculated in an interative sequence where a number
+    !  of possible paths for the output in the future are calculated, and the path
+    !  with the lowest integrated error is selected.
+    ! 
+    !  @b See also
+    !  @classlink CompMPC_MLP_Fo basecomponent_compmpc_fo.html
+    !  @classlink CompModePID basecomponent_compmodepid.html
+    !*/
+    Object CompMPC_MLP $ClassDef 214 05-JUL-2019 12:16:19.72
+      Body SysBody 05-JUL-2019 12:15:56.65
+        Attr Editor = 0
+        Attr Method = 0
+        Attr Flags = 144
+      EndBody
+      Object RtBody $ObjBodyDef 1 05-JUL-2019 12:16:45.97
+        Body SysBody 05-JUL-2019 12:16:29.61
+          Attr StructName = "CompMPC_MLP"
+          Attr NextAix = "_X262"
+        EndBody
+        !/**
+        !  Process value.
+        !*/
+        Object ProcValue $Attribute 221 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ProcValue"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Specifies the set point value. This input is in general
+        !  connected to the corresponding output of a Mode object.
+        !*/
+        Object SetValue $Attribute 222 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "SetValue"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Specifies which value is to be used when Force is TRUE.
+        !  When Force is TRUE OutValue is equal to ForcValue. This
+        !  input is in general connected to the corresponding
+        !  output of a Mode object.
+        !*/
+        Object ForceValue $Attribute 223 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ForceValue"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Specifies whether forced or MANUAL control is selected
+        !  or not. FALSE means none; TRUE means that either forced
+        !  or MANUAL control has been selected. This input is in
+        !  general connected to the corresponding output of a Mode
+        !  object.
+        !*/
+        Object Force $Attribute 224 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Force"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Boolean"
+          EndBody
+        EndObject
+        !/**
+        !  The controller's control signal. The value is based
+        !  either on the algorithm's current result, a value set
+        !  by the operator in MANUAL mode, or a forced value.
+        !*/
+        Object OutValue $Attribute 225 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "OutValue"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Type, Normal or Accumulating.
+        !*/
+        Object Type $Attribute 226 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:17:51.19
+            Attr PgmName = "Type"
+            Attr Size = 4
+            Attr TypeRef = "BaseComponent:Type-MlpType"
+          EndBody
+        EndObject
+        !/**
+        !  Lower limit of OutValue range.
+        !*/
+        Object OutMin $Attribute 227 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "OutMin"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Upper limit of OutValue range.
+        !*/
+        Object OutMax $Attribute 228 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "OutMax"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Maximum ramp of OutValue.
+        !*/
+        Object OutRamp $Attribute 229 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "OutRamp"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Lower limit of SetValue range.
+        !*/
+        Object SetMin $Attribute 232 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "SetMin"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Upper limit of SetValue range.
+        !*/
+        Object SetMax $Attribute 233 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "SetMax"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  The incrementation of the OutValue is multipled with Gain.
+        !  Normally this should be 1, but if ModelCorrection is used
+        !  it can be used to compensate som effects of the correction.
+        !*/
+        Object Gain $Attribute 234 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Gain"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Size of the time step in the predictive calculation in seconds.
+        !  TSize has to be adapted to the speed of the process.
+        !  The horizon of the prediction is TSize * TStep.
+        !*/
+        Object TSize $Attribute 235 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "TSize"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        !/**
+        !  Number of new OutValue paths in each time step.
+        !*/
+        Object SSize $Attribute 236 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "SSize"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        !/**
+        !  Internal pointer to store data.
+        !*/
+        Object Vacc $Attribute 237 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Vacc"
+            Attr Size = 8
+            Attr Flags = 65537
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Number of time steps in the predictive calculation.
+        !  The number of paths, and CPU load, will grow exponentially
+        !  with TStep.
+        !*/
+        Object TStep $Attribute 238 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "TStep"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  The length of the first time step when algorithm FirstScanTimeStep
+        !  or FirstScanTimeStepMC is used.
+        !*/
+        Object TStepFirst $Attribute 239 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "TStepFirst"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Factor for increment of the time step when algotithm ProgressiveTimeStep
+        !  or ProgressiveTimeStepMC is used.
+        !*/
+        Object TStepFactor $Attribute 240 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "TStepFactor"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Number of iterations.
+        !*/
+        Object Iterations $Attribute 241 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Iterations"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        !/**
+        !  Model file containing the parameter for the MLP.
+        !  This file is created by the export function of the MLP Regressor.
+        !*/
+        Object ModelFile $Attribute 242 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ModelFile"
+            Attr Size = 40
+            Attr TypeRef = "pwrs:Type-$String40"
+          EndBody
+        EndObject
+        !/**
+        !  Number of layers in the MLP, including input and output layers.
+        !*/
+        Object Layers $Attribute 244 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Layers"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        !/**
+        !  Size of each layer.
+        !*/
+        Object LayerSizes $Attribute 245 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "LayerSizes"
+            Attr Size = 80
+            Attr Flags = 1042
+            Attr Elements = 20
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        !/**
+        !  Activation parameter for the MLP.
+        !*/
+        Object Activation $Attribute 246 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Activation"
+            Attr Size = 16
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$String16"
+          EndBody
+        EndObject
+        !/**
+        !  Current status of the controller.
+        !*/
+        Object Status $Attribute 247 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Status"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Status"
+          EndBody
+        EndObject
+        !/**
+        !  The algorithm used in the predictive calculation.
+        !*/
+        Object Algorithm $Attribute 248 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:23:21.58
+            Attr PgmName = "Algorithm"
+            Attr Size = 4
+            Attr TypeRef = "BaseComponent:Type-MpcAlgorithm"
+          EndBody
+        EndObject
+        !/**
+        !  Specifies time range for the trends in the object graph.
+        !*/
+        Object TrendTimeRange $Attribute 249 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "TrendTimeRange"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Model correction value.
+        !*/
+        Object ModelCorr $Attribute 250 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ModelCorr"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Model correction integration time.
+        !*/
+        Object ModelCorrIntTime $Attribute 251 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ModelCorrIntTime"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Distance from the SetValue when the model correction shoud be 
+        !  activated.
+        !*/
+        Object ModelCorrInterval $Attribute 252 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ModelCorrInterval"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Maximum ramp of out value when the error is less than 
+        !  OutRampCloseInterval.
+        !  Minor fluctuations at steady state can in some cases be reduced
+	!  by increasing the ramp. Note that the interval should be kept 
+	!  small as this restriction is not part of the prediction.
+        !*/
+        Object OutRampClose $Attribute 230 05-JUL-2019 12:18:59.22
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "OutRampClose"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Distance from the SetValue when the output ramp is restricted
+        !  to OutRampClose.
+        !*/
+        Object OutRampCloseInterval $Attribute 231 05-JUL-2019 12:19:04.02
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "OutRampCloseInterval"
+            Attr Size = 4
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Control error, the difference between  SetValue and ProcValue.
+        !*/
+        Object Error $Attribute 253 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Error"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Number of OutValue paths in the prediction.
+        !*/
+        Object NoOfPaths $Attribute 254 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "NoOfPaths"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  The currently selected path.
+        !*/
+        Object CurrentPath $Attribute 255 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "CurrentPath"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Not yet implemented.
+        !*/
+        Object Coverage $Attribute 256 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Coverage"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Process value calculated by the model.
+	!  This value can be compared with the ProcValue to examine
+        !  the accuracy of the model.
+        !*/
+        Object ModelValue $Attribute 257 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ModelValue"
+            Attr Size = 4
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Mode object connected to this MPC. Makes it possible to open
+        !  the mode graph from the Mode button in the object graph.
+        !*/
+        Object ModeObject $Attribute 258 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ModeObject"
+            Attr Size = 24
+            Attr TypeRef = "pwrs:Type-$AttrRef"
+          EndBody
+        EndObject
+        !/**
+        !  Engineering unit for SetValue and ProcValue.
+        !*/
+        Object SetEngUnit $Attribute 259 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "SetEngUnit"
+            Attr Size = 16
+            Attr TypeRef = "pwrs:Type-$String16"
+          EndBody
+        EndObject
+        !/**
+        !  Engineering unit for OutValue.
+        !*/
+        Object OutEngUnit $Attribute 260 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "OutEngUnit"
+            Attr Size = 16
+            Attr TypeRef = "pwrs:Type-$String16"
+          EndBody
+        EndObject
+        !/**
+        !  @Summary The plc function object connected to this object.
+        !  The plc function object connected to this object.
+        !  This attribute is set when the function object is connected from
+        !  the plc editor by the connect function.
+        !*/
+        Object PlcConnect $Attribute 261 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "PlcConnect"
+            Attr Size = 24
+            Attr TypeRef = "pwrs:Type-$AttrRef"
+          EndBody
+        EndObject
+      EndObject
+      Object Template CompMPC_MLP 2203811840 05-JUL-2019 12:15:56.65
+        Body RtBody 05-JUL-2019 12:25:42.53
+          Attr OutMax = 1.000000e+02
+          Attr OutRamp = 1.000000e+02
+          Attr SetMax = 1.000000e+01
+          Attr Gain = 1.000000e+00
+          Attr TSize = 5
+          Attr SSize = 4
+          Attr TStep = 1.000000e+00
+          Attr TStepFirst = 1.000000e+00
+          Attr TStepFactor = 1.500000e+00
+          Attr Iterations = 3
+          Attr Algorithm = 4
+          Attr TrendTimeRange = 1.000000e+02
+          Attr ModelCorrIntTime = 2.500000e+01
+          Attr ModelCorrInterval = 1.000000e+01
+        EndBody
+      EndObject
+    EndObject
+    !/**
+    !  @Version 1.0
+    !  @Author cs
+    !  @Code rt_plc_bcomp.c
+    !  @Summary Function object to CompMPC_MLP.
+    !  Function object to CompMPC_MLP.
+    ! 
+    !  @image orm_compmpc_mlp_fo_fo.png
+    ! 
+    !  Connect the function object to an object of class or subclass of
+    !  CompMPC_MLP.
+    ! 
+    !  For mode object the CompModePID can be used.
+    !  @image orm_compmpc_mlp_fo_1.png
+    ! 
+    !  @b See also
+    !  @classlink CompMPC_MLP basecomponent_compmpc.html
+    !  @classlink CompModePID_Fo basecomponent_compmodepid_fo.html
+    !*/
+    Object CompMPC_MLP_Fo $ClassDef 215 05-JUL-2019 12:17:10.96
+      Body SysBody 05-JUL-2019 12:15:56.65
+        Attr Editor = 0
+        Attr Method = 0
+        Attr Flags = 144
+      EndBody
+      Object RtBody $ObjBodyDef 1 05-JUL-2019 12:15:56.65
+        Body SysBody 05-JUL-2019 12:17:15.45
+          Attr StructName = "CompMPC_MLP_Fo"
+          Attr NextAix = "_X142"
+        EndBody
+        !/**
+        !  Specifies the process value.
+        !*/
+        Object ProcValue $Input 114 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ProcValue"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "PV"
+          EndBody
+        EndObject
+        !/**
+        !  Specifies the set point value. This input is in general
+        !  connected to the corresponding output of a Mode object.
+        !*/
+        Object SetValue $Input 115 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "SetValue"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "SV"
+          EndBody
+        EndObject
+        !/**
+        !  Specifies which value is to be used when Force is TRUE.
+        !  When Force is TRUE OutVal is equal to ForcVal. This
+        !  input is in general connected to the corresponding
+        !  output of a Mode object.
+        !*/
+        Object ForceValue $Input 116 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ForceValue"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "FOV"
+          EndBody
+        EndObject
+        !/**
+        !  Specifies whether forced or MANUAL control is selected
+        !  or not. FALSE means none; TRUE means that either forced
+        !  or MANUAL control has been selected. This input is in
+        !  general connected to the corresponding output of a Mode
+        !  object.
+        !*/
+        Object Force $Input 117 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Force"
+            Attr Flags = 8192
+            Attr TypeRef = "pwrs:Type-$Boolean"
+            Attr GraphName = "for"
+          EndBody
+        EndObject
+        !/**
+        !  Attribute used in the regression model.
+        !*/
+        Object Attr2 $Input 118 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr2"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A2"
+          EndBody
+        EndObject
+        Object Attr3 $Input 119 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr3"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A3"
+          EndBody
+        EndObject
+        Object Attr4 $Input 120 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr4"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A4"
+          EndBody
+        EndObject
+        Object Attr5 $Input 121 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr5"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A5"
+          EndBody
+        EndObject
+        Object Attr6 $Input 122 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr6"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A6"
+          EndBody
+        EndObject
+        Object Attr7 $Input 123 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr7"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A7"
+          EndBody
+        EndObject
+        Object Attr8 $Input 124 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr8"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A8"
+          EndBody
+        EndObject
+        Object Attr9 $Input 125 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr9"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A9"
+          EndBody
+        EndObject
+        Object Attr10 $Input 126 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr10"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A10"
+          EndBody
+        EndObject
+        Object Attr11 $Input 127 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr11"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A11"
+          EndBody
+        EndObject
+        Object Attr12 $Input 128 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr12"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A12"
+          EndBody
+        EndObject
+        Object Attr13 $Input 129 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr13"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A13"
+          EndBody
+        EndObject
+        Object Attr14 $Input 130 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr14"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A14"
+          EndBody
+        EndObject
+        Object Attr15 $Input 131 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr15"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A15"
+          EndBody
+        EndObject
+        Object Attr16 $Input 132 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr16"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A16"
+          EndBody
+        EndObject
+        Object Attr17 $Input 133 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr17"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A17"
+          EndBody
+        EndObject
+        Object Attr18 $Input 134 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr18"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A18"
+          EndBody
+        EndObject
+        Object Attr19 $Input 135 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr19"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A19"
+          EndBody
+        EndObject
+        Object Attr20 $Input 136 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "Attr20"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "A20"
+          EndBody
+        EndObject
+        Object ModelP $Intern 137 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ModelP"
+            Attr Flags = 66577
+            Attr TypeRef = "pwrs:Type-$Void"
+          EndBody
+        EndObject
+        !/**
+        !  Pointer to scan time.
+        !*/
+        Object ScanTime $Intern 138 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "ScanTime"
+            Attr Flags = 65537
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  @Summary The main object connected to this object.
+        !  The main object of class CompPID (or a subclass of this class).
+        !  This attribute is set when the object is connected to the main object
+        !  with the connect function in the plc editor.
+        !*/
+        Object PlcConnect $Intern 139 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "PlcConnect"
+            Attr TypeRef = "pwrs:Type-$AttrRef"
+          EndBody
+        EndObject
+        !/**
+        !  Contains a pointer to the connected main object.
+        !*/
+        Object PlcConnectP $Intern 140 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "PlcConnectP"
+            Attr Flags = 67585
+            Attr TypeRef = "pwrs:Type-$Char"
+          EndBody
+        EndObject
+        !/**
+        !  The controller's control signal. The value is based
+        !  either on the algorithm's current result, a value set
+        !  by the operator in MANUAL mode, or a forced value.
+        !*/
+        Object OutValue $Output 141 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr PgmName = "OutValue"
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "Out"
+          EndBody
+        EndObject
+      EndObject
+      Object DevBody $ObjBodyDef 2 05-JUL-2019 12:15:56.65
+        Body SysBody 05-JUL-2019 12:17:21.71
+          Attr StructName = "CompMPC_MLP_Fo"
+          Attr NextAix = "_X5"
+        EndBody
+        Object PlcNode $Buffer 4 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr Class = "pwrs:Class-$PlcNode"
+          EndBody
+        EndObject
+      EndObject
+      Object GraphPlcNode $GraphPlcNode 11965 05-JUL-2019 12:15:56.65
+        Body SysBody 05-JUL-2019 12:15:56.65
+          Attr object_type = 11
+          Attr parameters[0] = 23
+          Attr parameters[1] = 4
+          Attr parameters[2] = 1
+          Attr parameters[3] = 0
+          Attr graphmethod = 0
+          Attr graphindex = 0
+          Attr default_mask[0] = 15
+          Attr default_mask[1] = 1
+          Attr segname_annotation = 1
+          Attr compmethod = 35
+          Attr compindex = 0
+          Attr tracemethod = 0
+          Attr traceindex = 0
+          Attr connectmethod = 10
+          Attr executeordermethod = 2
+          Attr objname = "MPC_MLP_Fo"
+          Attr graphname = "MPC_MLP_Fo"
+        EndBody
+      EndObject
+      Object RtXtt $RtMenu 11966 05-JUL-2019 12:15:56.65
+        Object PlcConnect $MenuRef 11967 05-JUL-2019 12:15:56.65
+          Body SysBody 05-JUL-2019 12:15:56.65
+            Attr ButtonName = "PlcConnect"
+            Attr RefAttribute = "PlcConnect"
+          EndBody
+        EndObject
+      EndObject
+      Object Template CompMPC_MLP_Fo 2204073984 05-JUL-2019 12:15:56.65
+        Body RtBody 01-JAN-1970 01:00:00.00
+        EndBody
+        Body DevBody 01-JAN-1970 01:00:00.00
+        EndBody
+      EndObject
+    EndObject
+    !/**
+    !  @Version 1.0
     !  @Group Sensors
     !  @Summary Supervised analog sensor.
     !  Base component for a supervised analog sensor.