ADD: pass 30

2 files changed, 92 insertions, 5 deletions

diff --git a/templates/MPC_TUBE.asv b/templates/MPC_TUBE.asv
new file mode 100644
index 0000000..382f150
--- /dev/null
+++ b/templates/MPC_TUBE.asv
@@ -0,0 +1,83 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% 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_TUBE
+    properties
+        yalmip_optimizer
+        K_tube
+    end
+
+    methods
+        function obj = MPC_TUBE(Q,R,N,H_N,h_N,H_tube,h_tube,K_tube,params)
+            obj.K_tube = K_tube;
+    
+            % YOUR CODE HERE
+            nx = params.model.nx;
+            nu = params.model.nu;
+
+            A = params.model.A;
+            B = params.model.B;
+
+            [~,P,~] = dlqr(A,B,Q,R);
+
+            V = sdpvar(repmat(nu,1,N),ones(1,N),'full');
+            Z = sdpvar(repmat(nx,1,N+1),ones(1,N+1),'full');
+
+            H_x = params.constraints.StateMatrix;
+            h_x = params.constraints.StateRHS;
+            H_u = params.constraints.InputMatrix;
+            h_u = params.constraints.InputRHS;
+
+            P_x_tightened = Polyhedron('A',H_x,'b',h_x).minus(Polyhedron('A',H_tube,'b',h_tube));
+            H_z = P_x_tightened.A;
+            h_z = P_x_tightened.b;
+
+            P_u_tightened = Polyhedron('A',H_u,'b',h_u).minus(K_tube*Polyhedron('A',H_tube,'b',h_tube));
+            H_v = P_u_tightened.A;
+            h_v = P_u_tightened.b;
+
+            X0 = sdpvar(nx,1,'full');
+            constraints = [H_tube*(X0-Z{1}) <= h_tube];
+            objective = 0;
+            for k = 1:N
+                constraints = [ ...
+                    constraints, ...
+                    Z{k+1} == A*Z{k} + B*V{k} , ...
+%                     H_z * Z{k} <= h_z, ...
+%                     H_v * V{k} <= h_v ...
+                  H_x * Z{k} <= h_x, ...
+                  H_u * V{k} <= h_u ...
+                ];
+                objective = objective + Z{k}'*Q*Z{k} + V{k}'*R*V{k};
+            end
+            constraints = [constraints, H_N * Z{end} <= h_N];
+            objective = objective + Z{end}'*P*Z{end};
+
+            opts = sdpsettings('verbose',1,'solver','quadprog');
+            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{V{1} Z{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;
+            % YOUR CODE HERE
+            [v0, z0, objective] = optimizer_out{:};
+            u = obj.K_tube*(x-z0)+v0;
+
+
+            feasible = true;
+            if (errorcode ~= 0)
+                feasible = false;
+            end
+
+            ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
+        end
+    end
+end
\ No newline at end of file
diff --git a/templates/MPC_TUBE.m b/templates/MPC_TUBE.m
index 83b056b..9a630c1 100644
--- a/templates/MPC_TUBE.m
+++ b/templates/MPC_TUBE.m
@@ -15,7 +15,7 @@ classdef MPC_TUBE
     methods
         function obj = MPC_TUBE(Q,R,N,H_N,h_N,H_tube,h_tube,K_tube,params)
             obj.K_tube = K_tube;
-
+    
             % YOUR CODE HERE
             nx = params.model.nx;
             nu = params.model.nu;
@@ -42,14 +42,16 @@ classdef MPC_TUBE
             h_v = P_u_tightened.b;
 
             X0 = sdpvar(nx,1,'full');
-            constraints = [H_tube*(Z{1}-X0) <= h_tube];
+            constraints = [H_tube*(X0-Z{1}) <= h_tube];
             objective = 0;
             for k = 1:N
                 constraints = [ ...
                     constraints, ...
                     Z{k+1} == A*Z{k} + B*V{k} , ...
-                    H_z * Z{k} <= h_z, ...
-                    H_v * V{k} <= h_v ...
+%                     H_z * Z{k} <= h_z, ...
+%                     H_v * V{k} <= h_v ...
+                    H_x * Z{k} <= h_x, ...
+                    H_u * V{k} <= h_u ...
                 ];
                 objective = objective + Z{k}'*Q*Z{k} + V{k}'*R*V{k};
             end
@@ -66,7 +68,9 @@ classdef MPC_TUBE
             [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
             solvetime = toc;
             % YOUR CODE HERE
-            [u, objective] = optimizer_out{:};
+            [v0, z0, objective] = optimizer_out{:};
+            u = obj.K_tube*(x-z0)+v0;
+
 
             feasible = true;
             if (errorcode ~= 0)