From a23ba49056a36aff221d0c23e228b981222c3576 Mon Sep 17 00:00:00 2001
From: Yuan Xu <yuanxu@student.ethz.ch>
Date: Wed, 24 May 2023 17:35:46 +0200
Subject: add submission zip

---
 Submission files/MPC_TS.m | 62 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 62 insertions(+)
 create mode 100644 Submission files/MPC_TS.m

(limited to 'Submission files/MPC_TS.m')

diff --git a/Submission files/MPC_TS.m b/Submission files/MPC_TS.m
new file mode 100644
index 0000000..cbe7b45
--- /dev/null
+++ b/Submission files/MPC_TS.m	
@@ -0,0 +1,62 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% 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_TS
+    properties
+        yalmip_optimizer
+    end
+
+    methods
+        function obj = MPC_TS(Q,R,N,H,h,params)
+            % YOUR CODE HERE
+            opts = sdpsettings('verbose',1,'solver','quadprog');
+
+            % Create yalmip optimization variables
+            U = sdpvar(repmat(params.model.nu,N,1),ones(1,N));
+            X = sdpvar(repmat(params.model.nx,N+1,1),ones(1,N+1));
+
+            % Build cost function and constraints
+            Pinf = idare(params.model.A, params.model.B, Q, R);
+            objective = X{N+1}' * Pinf * X{N+1};
+            constraints = [];
+            for k=1:N+1
+                if k <= N
+                    % These constraints are for the index in 1, ..., N
+                    objective = objective + X{k}' * Q * X{k} + U{k}' * R * U{k};
+                    constraints = [constraints, ...
+                        X{k+1} == params.model.A * X{k} + params.model.B * U{k}, ...
+                        params.constraints.InputMatrix * U{k} <= params.constraints.InputRHS, ...
+                    ];
+                end
+
+                % These contrains are for 1, ..., N+1
+                constraints = [constraints, ...
+                    params.constraints.StateMatrix * X{k} <= params.constraints.StateRHS, ...
+                ];
+            end
+            % Terminal constraint
+            constraints = [constraints, H*X{N+1} <= h];
+
+            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X{1},{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
\ No newline at end of file
-- 
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