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| -rw-r--r-- | templates/MPC_TE.m | 28 |
1 files changed, 27 insertions, 1 deletions
diff --git a/templates/MPC_TE.m b/templates/MPC_TE.m index e0b55d2..6c300b8 100644 --- a/templates/MPC_TE.m +++ b/templates/MPC_TE.m @@ -15,7 +15,33 @@ classdef MPC_TE function obj = MPC_TE(Q,R,N,params) % YOUR CODE HERE opts = sdpsettings('verbose',1,'solver','quadprog'); - obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{U{1} objective}); + + % Create yalmip variables + U = sdpvar(repmat(params.model.nu,N,1),ones(1,N)); + X = sdpvar(repmat(params.model.nx,N+1,1),ones(1,N+1)); + + % Build cost function + objective = 0; + constraints = []; + for k=1:N+1 + if k <= N + % These constraints are for the index in 1, ..., N + objective = objective + X{k}' * Q * X{k} + U{k}' * R * U{k}; + constraints = [constraints, ... + X{k+1} == params.model.A * X{k} + params.model.B * U{k}, ... + params.constraints.InputMatrix * U{k} <= params.constraints.InputRHS, ... + ]; + end + + % These contrains are for 1, ..., N+1 + constraints = [constraints, ... + params.constraints.StateMatrix * X{k} <= params.constraints.StateRHS, ... + ]; + end + % Terminal constraint + constraints = [constraints, X{N+1} == zeros(size(X{N+1}))]; + + obj.yalmip_optimizer = optimizer(constraints,objective,opts,X{1},{U{1} objective}); end function [u, ctrl_info] = eval(obj,x) |