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