Take deliverables for Robust MPC from yanzhen

According to table 12

  - generate_disturbances
  - simulate_uncertain
  - compute_tube_contorller
  - compute_minRPI
  - compute_tightening
  - MPC_TUBE
  - MPC_TUBE/eval (contained in MPC_TUBE.m)
  - MPC_TUBE_script (and its output MPC_TUBE_params.mat)

1 files changed, 20 insertions, 0 deletions

diff --git a/templates/chebycenter.m b/templates/chebycenter.m
new file mode 100755
index 0000000..cbdce1c
--- /dev/null
+++ b/templates/chebycenter.m
@@ -0,0 +1,20 @@
+function [c,r] = chebycenter(A,b)
+%CHEBYCENTER Compute Chebyshev center of polytope Ax <= b.
+%  The Chebyshev center of a polytope is the center of the largest
+%  hypersphere enclosed by the polytope. 
+%  Requires optimization toolbox.
+
+[n,p] = size(A);
+an = sqrt(sum(A.^2,2));
+A1 = zeros(n,p+1);
+A1(:,1:p) = A;
+A1(:,p+1) = an;
+f = zeros(p+1,1);
+f(p+1) = -1;
+
+options = optimset;
+options = optimset(options,'Display', 'off');
+c = linprog(f,A1,b,[],[],[],[],[],options);
+r = c(p+1);
+c = c(1:p);
+end