add submission zipsubmission

1 files changed, 62 insertions, 0 deletions

diff --git a/Submission files/MPC_TE.m b/Submission files/MPC_TE.m
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+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef MPC_TE
+    properties
+        yalmip_optimizer
+    end
+
+    methods
+        function obj = MPC_TE(Q,R,N,params)
+            % YOUR CODE HERE
+            opts = sdpsettings('verbose',1,'solver','quadprog');
+
+            % Create yalmip variables
+            U = sdpvar(repmat(params.model.nu,N,1),ones(1,N));
+            X = sdpvar(repmat(params.model.nx,N+1,1),ones(1,N+1));
+
+            % Build cost function and constraints
+            objective = 0;
+            constraints = [];
+            for k=1:N+1
+                if k <= N
+                    % These constraints are for the index in 1, ..., N
+                    objective = objective + X{k}' * Q * X{k} + U{k}' * R * U{k};
+                    constraints = [constraints, ...
+                        X{k+1} == params.model.A * X{k} + params.model.B * U{k}, ...
+                        params.constraints.InputMatrix * U{k} <= params.constraints.InputRHS, ...
+                    ];
+                end
+
+                % These contrains are for 1, ..., N+1
+                constraints = [constraints, ...
+                    params.constraints.StateMatrix * X{k} <= params.constraints.StateRHS, ...
+                ];
+            end
+            % Terminal constraint
+            constraints = [constraints, X{N+1} == zeros(size(X{N+1}))];
+
+            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X{1},{U{1} objective});
+        end
+
+        function [u, ctrl_info] = eval(obj,x)
+            %% evaluate control action by solving MPC problem, e.g.
+            tic;
+            [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
+            solvetime = toc;
+            [u, objective] = optimizer_out{:};
+
+            feasible = true;
+            if (errorcode ~= 0)
+                feasible = false;
+            end
+
+            ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
+        end
+    end
+end
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