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Diffstat (limited to 'templates/MPC_TUBE.m')
| -rw-r--r-- | templates/MPC_TUBE.m | 40 |
1 files changed, 0 insertions, 40 deletions
diff --git a/templates/MPC_TUBE.m b/templates/MPC_TUBE.m deleted file mode 100644 index bd62044..0000000 --- a/templates/MPC_TUBE.m +++ /dev/null @@ -1,40 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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 - - 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 - - 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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