From 1f12e47e6d1fe8b365806aa0b42de237970d53bf Mon Sep 17 00:00:00 2001
From: Nao Pross <np@0hm.ch>
Date: Wed, 24 May 2023 16:50:06 +0200
Subject: Take deliverables for Robust MPC from yanzhen

According to table 12

  - generate_disturbances
  - simulate_uncertain
  - compute_tube_contorller
  - compute_minRPI
  - compute_tightening
  - MPC_TUBE
  - MPC_TUBE/eval (contained in MPC_TUBE.m)
  - MPC_TUBE_script (and its output MPC_TUBE_params.mat)
---
 templates/generate_disturbances.m | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'templates/generate_disturbances.m')

diff --git a/templates/generate_disturbances.m b/templates/generate_disturbances.m
index 570a4c9..f08cdb5 100644
--- a/templates/generate_disturbances.m
+++ b/templates/generate_disturbances.m
@@ -8,4 +8,10 @@
 
 function Wt = generate_disturbances(params)
     % YOUR CODE HERE
+    % params_z = generate_params_z(params);
+    Hw = params.constraints.DisturbanceMatrix;
+    hw = params.constraints.DisturbanceRHS;
+    % Pw = Polyhedron('A', Hw, 'b', hw);
+    N = params.model.HorizonLength;
+    Wt = cprnd(N,Hw,hw)';
 end
\ No newline at end of file
-- 
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