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| -rw-r--r-- | templates/MPC_TE.m | 36 |
1 files changed, 36 insertions, 0 deletions
diff --git a/templates/MPC_TE.m b/templates/MPC_TE.m new file mode 100644 index 0000000..e0b55d2 --- /dev/null +++ b/templates/MPC_TE.m @@ -0,0 +1,36 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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_TE + properties + yalmip_optimizer + end + + methods + 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}); + 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; + [u, objective] = optimizer_out{:}; + + feasible = true; + if (errorcode ~= 0) + feasible = false; + end + + ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime); + end + end +end
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