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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-11 09:04:25 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-11 09:04:25 +0200 |
| commit | 028bd7ee110009ae0b26dcc6c3ac1809bab8d4a0 (patch) | |
| tree | b69ccff4cd82b0818e81991ba3684f0c5493d57c | |
| parent | ADD: pass 27 (diff) | |
| download | mpc_pe-028bd7ee110009ae0b26dcc6c3ac1809bab8d4a0.tar.gz mpc_pe-028bd7ee110009ae0b26dcc6c3ac1809bab8d4a0.zip | |
ADD: 28 bug
| -rw-r--r-- | templates/compute_minRPI.m | 23 |
1 files changed, 23 insertions, 0 deletions
diff --git a/templates/compute_minRPI.m b/templates/compute_minRPI.m index 0b4ffdb..2ae7946 100644 --- a/templates/compute_minRPI.m +++ b/templates/compute_minRPI.m @@ -8,4 +8,27 @@ function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params) % YOUR CODE HERE + A = params.model.A+params.model.B*K_tube; + nx = params.model.nx; + omega = Polyhedron('A',[eye(nx);-eye(nx)],'b',zeros(1,2*nx)'); + % display(omega.A) + % display(omega.b) + n_iter = 0; + Hw = params.constraints.DisturbanceMatrix; + hw = params.constraints.DisturbanceRHS; + while true + omega_last = copy(omega); + % display(n_iter) + % A_last = omega.A; + % b_last = omega.b; + omega = omega.plus(Polyhedron('A',Hw*(A^n_iter),'b',hw)); + + if eq(omega.minHRep(),omega_last.minHRep()) + % if eq(omega,omega_last) + break + end + n_iter = n_iter+1; + end + H_tube = omega.A; + h_tube = omega.b; end
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