add submission zipsubmission

1 files changed, 72 insertions, 0 deletions

diff --git a/Submission files/MPC_TS_SC.m b/Submission files/MPC_TS_SC.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_TS_SC
+    properties
+        yalmip_optimizer
+    end
+
+    methods
+        function obj = MPC_TS_SC(Q,R,N,H,h,S,v,params)            
+            % YOUR CODE HERE
+            % initialize parameters
+            nu = params.model.nu;
+            nx = params.model.nx;
+            A=params.model.A;
+            B=params.model.B;
+            H_x = params.constraints.StateMatrix;
+            h_x = params.constraints.StateRHS;
+            H_u = params.constraints.InputMatrix;
+            h_u = params.constraints.InputRHS;
+            [~,P,~] = dlqr(A,B,Q,R);
+
+            U = sdpvar(repmat(nu,1,N),ones(1,N),'full');
+            X = sdpvar(repmat(nx,1,N+1),ones(1,N+1),'full');
+            sv = sdpvar(repmat(length(S(1,:)),1,N+1),ones(1,N+1),'full');
+
+            X0 = sdpvar(nx,1,'full');
+            objective = 0;
+            constraints = X{1} == X0;      
+            % items for 1 to N
+            for k=1:N
+                objective = objective + X{k}' * Q * X{k} + U{k}' * R * U{k} + sv{k}' * S * sv{k} + v * max(sv{k});
+                constraints = [constraints, ...
+                    X{k+1} == A * X{k} + B * U{k}, ...
+                    H_x * X{k} <= h_x+sv{k}, ...
+                    H_u * U{k} <= h_u, ...
+                    sv{k} >= 0 ...
+                ];
+            end
+            % items for N+1
+                objective = objective + X{N+1}'*P*X{N+1} + sv{N+1}'*S*sv{N+1} + v*max(sv{N+1});
+                constraints = [constraints, ...
+                    sv{N+1} >= 0, ...
+                    H_x * X{N+1} <= h_x + sv{N+1} ...
+                ];
+            % maximum positively invariant set constraint
+            constraints = [constraints, H * X{N+1} <= h];
+            opts = sdpsettings('verbose',1,'solver','quadprog','quadprog.TolFun',1e-8);
+            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{U{1} objective});
+        end
+
+        function [u, ctrl_info] = eval(obj,x)
+            % evaluate control action by solving MPC problem
+            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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