Revert to handout

1 files changed, 9 insertions, 80 deletions

diff --git a/templates/MPC.m b/templates/MPC.m
index b2d411d..3e9d2f1 100644
--- a/templates/MPC.m
+++ b/templates/MPC.m
@@ -6,44 +6,6 @@
 % Please see the LICENSE file that has been included as part of this package.
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-% classdef MPC
-%     properties
-%         yalmip_optimizer
-%     end
-% 
-%     methods
-%         function obj = MPC(Q,R,N,params)
-%             nu = params.model.nu;
-%             nx = params.model.nx;
-% 
-%             % define optimization variables
-%             U = sdpvar(repmat(nu,1,N),ones(1,N),'full');
-%             X0 = sdpvar(nx,1,'full');
-% 
-%             % YOUR CODE HERE
-%             
-%             opts = sdpsettings('verbose',1,'solver','quadprog');
-%             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, 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
-
 classdef MPC
     properties
         yalmip_optimizer
@@ -53,64 +15,31 @@ classdef MPC
         function obj = MPC(Q,R,N,params)
             nu = params.model.nu;
             nx = params.model.nx;
-            % YOUR CODE HERE
+
             % define optimization variables
-            A=params.model.A;
-            B=params.model.B;
             U = sdpvar(repmat(nu,1,N),ones(1,N),'full');
-            X = sdpvar(repmat(nx,1,N+1),ones(1,N+1),'full');
-
-            [K,P,~] = dlqr(A,B,Q,R);
-
-            % define constraints
-%             s_max=params.constraints.MaxAbsPositionXZ;
-%             y_max=params.constraints.MaxAbsPositionY;
-%             u_max = params.constraints.MaxAbsThrust;
-            H_x = params.constraints.StateMatrix;
-            h_x = params.constraints.StateRHS;
-            H_u = params.constraints.InputMatrix;
-            h_u = params.constraints.InputRHS;
             X0 = sdpvar(nx,1,'full');
-            objective = 0;
-            constraints = X{1} == X0;
-            for k = 1:N
-                constraints = [ ...
-                    constraints, ...
-                    X{k+1} == A*X{k} + B*U{k} , ...
-                    H_x * X{k} <= h_x, ...
-                    H_u * U{k} <= h_u ...
-                ];
 
-                objective = objective + X{k}'*Q*X{k} + U{k}'*R*U{k};
-            end
-            objective=objective+X{N+1}'*P*X{N+1};
-            % terminal constraint
-%             constraints = [ ...
-%                 constraints, ...
-%                 X{N+1} == zeros(nx,1)
-%             ];
+            % YOUR CODE HERE
+            
             opts = sdpsettings('verbose',1,'solver','quadprog');
             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
+            %% evaluate control action by solving MPC problem, e.g.
             tic;
-            [optimizer_out,errorcode,~] = obj.yalmip_optimizer{x};
+            [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
             solvetime = toc;
+            
+            [u, objective] = optimizer_out{:};
 
-            % extract optimal control action and objective function value
-            u = optimizer_out{1};
-            objective = optimizer_out{2};
-
-            % check feasibility of optimization problem
-            feasible = ~isnan(objective) && ~isinf(objective);
+            feasible = true;
             if (errorcode ~= 0)
                 feasible = false;
             end
 
-            % create control info struct
             ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
         end
     end
-end
+end
\ No newline at end of file