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author | Nao Pross <np@0hm.ch> | 2023-05-24 16:50:06 +0200 |
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committer | Nao Pross <np@0hm.ch> | 2023-05-24 17:03:43 +0200 |
commit | 1f12e47e6d1fe8b365806aa0b42de237970d53bf (patch) | |
tree | ba9c739eb170397a7b7a9303e3ea7d1a03a94844 /templates/compute_minRPI.m | |
parent | Take deliverables for soft contraints from yuanxu (diff) | |
download | mpc_pe-1f12e47e6d1fe8b365806aa0b42de237970d53bf.tar.gz mpc_pe-1f12e47e6d1fe8b365806aa0b42de237970d53bf.zip |
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)
Diffstat (limited to '')
-rw-r--r-- | templates/compute_minRPI.m | 28 |
1 files changed, 28 insertions, 0 deletions
diff --git a/templates/compute_minRPI.m b/templates/compute_minRPI.m index 0b4ffdb..19df517 100644 --- a/templates/compute_minRPI.m +++ b/templates/compute_minRPI.m @@ -8,4 +8,32 @@ 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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