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authorNao Pross <np@0hm.ch>2023-05-13 14:12:56 +0200
committerNao Pross <np@0hm.ch>2023-05-13 14:14:03 +0200
commit0310d02ca046cb25a97c317281bc67a7c138606e (patch)
treeb5786004efbddf917de55369d2c1ca70add5e426
parentFIX: rewrite compute_minRPI.m and debugging (diff)
downloadmpc_pe-npross-fix28.tar.gz
mpc_pe-npross-fix28.zip
FIX: compute_minRPI.mnpross-fix28
-rw-r--r--templates/compute_minRPI.m13
1 files changed, 5 insertions, 8 deletions
diff --git a/templates/compute_minRPI.m b/templates/compute_minRPI.m
index 158cbad..3d9673a 100644
--- a/templates/compute_minRPI.m
+++ b/templates/compute_minRPI.m
@@ -16,17 +16,14 @@ function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params)
'b', params.constraints.DisturbanceRHS);
Fi = @(i) Ak^i * W;
- fprintf("Stable error dynamics? %d\n", all(eig(Ak) < 1))
- fprintf("Decreasing DRS? %d\n", Fi(3).volume() > Fi(4).volume());
-
% Start algorithm
omega = Polyhedron.emptySet(params.model.nx);
n_iter = 0;
while n_iter < 200
- Fn_iter = Fi(n_iter);
- omega_next = omega + Fn_iter;
- fprintf("n_iter=%d: volume=%d, fulldim=%d, bounded=%d\n", ...
- n_iter, Fn_iter.volume(), omega_next.isFullDim(), omega_next.isBounded())
+ omega_next = omega + Fi(n_iter);
+
+ fprintf("n_iter=%d: Omega volume=%d, Fi volume=%d, fulldim=%d, bounded=%d\n", ...
+ n_iter, omega_next.volume(), Fi(n_iter).volume(), omega_next.isFullDim(), omega_next.isBounded())
% why does this happen?
if ~ omega_next.isFullDim() || ~ omega_next.isBounded()
@@ -39,7 +36,7 @@ function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params)
break;
end
n_iter = n_iter+1;
- omega = omega_next;
+ omega = omega_next.copy();
end
H_tube = omega.A;