From 1afec60c8acd4f53ef73b3bf0c76bf729a7416a2 Mon Sep 17 00:00:00 2001
From: YanzhenXiangRobotics <xyz000327@gmail.com>
Date: Mon, 15 May 2023 17:02:21 +0200
Subject: ADD: pass 31

---
 templates/MPC_TUBE_script.m | 15 +++++++++++++++
 templates/lqr_maxPI.m       | 38 ++------------------------------------
 2 files changed, 17 insertions(+), 36 deletions(-)
 create mode 100644 templates/MPC_TUBE_script.m

diff --git a/templates/MPC_TUBE_script.m b/templates/MPC_TUBE_script.m
new file mode 100644
index 0000000..a021cd0
--- /dev/null
+++ b/templates/MPC_TUBE_script.m
@@ -0,0 +1,15 @@
+p = [0.05, 0.1];
+params = generate_params();
+params = generate_params_z(params);
+K_tube = compute_tube_controller(p,params);
+[H_tube, h_tube, n_iter] = compute_minRPI(K_tube, params);
+params = compute_tightening(K_tube, H_tube, h_tube, params);
+
+Q = diag([300,0.1]);R = 1;N = 50;
+[H_N, h_N] = lqr_maxPI(Q, R, params);
+
+% MPC_TUBE_obj = MPC_TUBE(Q,R,N,H_N,h_N,H_tube,h_tube,K_tube,params);
+matfile = struct("p", p, "K_tube", K_tube, "H_tube", H_tube, "h_tube", h_tube,...
+                "H_N", H_N, "h_N", h_N, "params_z_tube", params);
+save("MPC_TUBE_params.mat", "-struct", "matfile");
+
diff --git a/templates/lqr_maxPI.m b/templates/lqr_maxPI.m
index 47ddd37..86d838e 100644
--- a/templates/lqr_maxPI.m
+++ b/templates/lqr_maxPI.m
@@ -6,36 +6,6 @@
 % Please see the LICENSE file that has been included as part of this package.
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-% function [H, h] = lqr_maxPI(Q, R, params)
-%     % Define the linear system
-%     A = params.model.A;
-%     B = params.model.B;
-%     
-%     % Define the state and input constraints
-%     s_max=params.constraints.MaxAbsPositionXZ;
-%     y_max=params.constraints.MaxAbsPositionY;
-%     u_max = params.constraints.MaxAbsThrust;
-%     
-%     % Define the cost function
-%     [K, ~, ~] = dlqr(A, B, Q, R);
-%     P = dare(A, B, Q, R)
-%     F = -inv((B'*P*B+R))*B'*P*A
-%     A
-%     B
-%     Ax=[1,0;
-%         0,1;
-%         -1,0;
-%         0,-1];
-%     Ax=[1,0;
-%         -1,0;
-%         0,1;
-%         0,-1];
-%         Au=Ax;
-%     bx=[s_max;s_max;s_max;s_max];
-%     bu=[u_max;u_max;u_max;u_max];
-%     H=[Ax;Au*F]/2
-%     h=[bx;bu]
-%     end
 
 function [H, h] = lqr_maxPI(Q, R, params)
     % Define the linear system
@@ -44,12 +14,10 @@ function [H, h] = lqr_maxPI(Q, R, params)
     nx=params.model.nx;
     nu=params.model.nu;
     
-    % Define the state and input constraints
     s_max= params.constraints.MaxAbsPositionXZ;
     y_max= params.constraints.MaxAbsPositionY;
     u_max = params.constraints.MaxAbsThrust;
     
-    % Define the cost function
     K = -dlqr(A, B, Q, R);
     systemLQR = LTISystem('A', A+B*K);
 %     absxmax = ones(nx,1)*s_max;
@@ -62,17 +30,15 @@ function [H, h] = lqr_maxPI(Q, R, params)
     Xp = Polyhedron('A',[Hx;Hu*K], 'b', [hx;hu]);
     
     figure(1);
-%     Xp.plot(),  alpha(0.25), title('Resulting State Constraints under LQR Control'), xlabel('x_1'), ylabel('x_2'), zlabel('x_3');
     systemLQR.x.with('setConstraint');
     systemLQR.x.setConstraint = Xp;
     InvSetLQR = systemLQR.invariantSet();
     InvSetLQR.plot(), alpha(0.25), title('Invariant Set for Triple Integrator under LQR Control'), xlabel('x_1'), ylabel('x_2'), zlabel('x_3');
 
-    H=InvSetLQR.A
-    h=InvSetLQR.b
+    H=InvSetLQR.A;
+    h=InvSetLQR.b;
 
 
 end
 
 
-
-- 
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