add submission zipsubmission

1 files changed, 39 insertions, 0 deletions

diff --git a/Submission files/compute_minRPI.m b/Submission files/compute_minRPI.m
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index 0000000..19df517
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+++ b/Submission files/compute_minRPI.m
@@ -0,0 +1,39 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% 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.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params)
+    % YOUR CODE HERE
+    A = params.model.A+params.model.B*K_tube;
+    % A = params.model.A;
+%     display(A)
+    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;
+    W = Polyhedron('A',Hw,'b',hw); 
+    while true 
+        omega_last = copy(omega);
+        % display(n_iter)
+        % A_last = omega.A;
+        % b_last = omega.b;
+        display(n_iter);
+        display(omega.b)
+        omega = omega.plus(A^(n_iter)*W);
+        
+        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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