diff options
Diffstat (limited to 'templates/compute_minRPI.m')
| -rw-r--r-- | templates/compute_minRPI.m | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/templates/compute_minRPI.m b/templates/compute_minRPI.m index 37a6dbb..19df517 100644 --- a/templates/compute_minRPI.m +++ b/templates/compute_minRPI.m @@ -18,6 +18,7 @@ function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params) n_iter = 0; Hw = params.constraints.DisturbanceMatrix; hw = params.constraints.DisturbanceRHS; + W = Polyhedron('A',Hw,'b',hw); while true omega_last = copy(omega); % display(n_iter) @@ -25,7 +26,7 @@ function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params) % b_last = omega.b; display(n_iter); display(omega.b) - omega = omega.plus(Polyhedron('A',Hw*inv(A^(n_iter+1)),'b',hw)); + omega = omega.plus(A^(n_iter)*W); if eq(omega.minHRep(),omega_last.minHRep()) % if eq(omega,omega_last) |