From 028bd7ee110009ae0b26dcc6c3ac1809bab8d4a0 Mon Sep 17 00:00:00 2001
From: YanzhenXiangRobotics <xyz000327@gmail.com>
Date: Thu, 11 May 2023 09:04:25 +0200
Subject: ADD: 28 bug

---
 templates/compute_minRPI.m | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

(limited to 'templates')

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
-- 
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