diff options
| -rw-r--r-- | templates/compute_minRPI.m | 23 | ||||
| -rw-r--r-- | templates/compute_tube_controller.m | 5 | ||||
| -rw-r--r-- | templates/simulate_uncertain.m | 13 |
3 files changed, 41 insertions, 0 deletions
diff --git a/templates/compute_minRPI.m b/templates/compute_minRPI.m index 0b4ffdb..2ae7946 100644 --- a/templates/compute_minRPI.m +++ b/templates/compute_minRPI.m @@ -8,4 +8,27 @@ function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params) % YOUR CODE HERE + A = params.model.A+params.model.B*K_tube; + 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; + while true + omega_last = copy(omega); + % display(n_iter) + % A_last = omega.A; + % b_last = omega.b; + omega = omega.plus(Polyhedron('A',Hw*(A^n_iter),'b',hw)); + + 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
\ No newline at end of file diff --git a/templates/compute_tube_controller.m b/templates/compute_tube_controller.m index adca95d..2c567f0 100644 --- a/templates/compute_tube_controller.m +++ b/templates/compute_tube_controller.m @@ -8,4 +8,9 @@ function K_tube = compute_tube_controller(p,params) % YOUR CODE HERE + Az = params.model.A; + Bz =params.model.B; + % Bz = [params.model.B,eye(params.model.nx)]; + K_tube = -place(Az,Bz,p); + % K_tube = K(1:params.model.nu,:); end
\ No newline at end of file diff --git a/templates/simulate_uncertain.m b/templates/simulate_uncertain.m index dc9df26..f74f7af 100644 --- a/templates/simulate_uncertain.m +++ b/templates/simulate_uncertain.m @@ -8,4 +8,17 @@ function [Xt,Ut,ctrl_info] = simulate_uncertain(x0, ctrl, Wt, params) % YOUR CODE HERE + Xt = [x0]; + Ut = []; + x = x0 + ctrl_info = []; + % obj = LQR(); + for i = 1:params.model.HorizonLength + [u, ctrl_info_] = ctrl.eval(x); + Ut = [Ut u]; + ctrl_info = [ctrl_info ctrl_info_]; + x = params.model.A*x + params.model.B*u + Wt(:,i); + Xt = [Xt x]; + end + % plot_trajectory(Xt, Ut, ctrl_info, params); end
\ No newline at end of file |