From 657966bf73fdb50fd1c7b55b15766e3eadfb7d4a Mon Sep 17 00:00:00 2001
From: YanzhenXiangRobotics
 <54230111+YanzhenXiangRobotics@users.noreply.github.com>
Date: Mon, 15 May 2023 13:13:37 +0200
Subject: ADD: raw 30

---
 templates/MPC_TUBE.m | 41 ++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 40 insertions(+), 1 deletion(-)

(limited to 'templates')

diff --git a/templates/MPC_TUBE.m b/templates/MPC_TUBE.m
index bd62044..83b056b 100644
--- a/templates/MPC_TUBE.m
+++ b/templates/MPC_TUBE.m
@@ -17,6 +17,44 @@ classdef MPC_TUBE
             obj.K_tube = K_tube;
 
             % YOUR CODE HERE
+            nx = params.model.nx;
+            nu = params.model.nu;
+
+            A = params.model.A;
+            B = params.model.B;
+
+            [~,P,~] = dlqr(A,B,Q,R);
+
+            V = sdpvar(repmat(nu,1,N),ones(1,N),'full');
+            Z = sdpvar(repmat(nx,1,N+1),ones(1,N+1),'full');
+
+            H_x = params.constraints.StateMatrix;
+            h_x = params.constraints.StateRHS;
+            H_u = params.constraints.InputMatrix;
+            h_u = params.constraints.InputRHS;
+
+            P_x_tightened = Polyhedron('A',H_x,'b',h_x).minus(Polyhedron('A',H_tube,'b',h_tube));
+            H_z = P_x_tightened.A;
+            h_z = P_x_tightened.b;
+
+            P_u_tightened = Polyhedron('A',H_u,'b',h_u).minus(K_tube*Polyhedron('A',H_tube,'b',h_tube));
+            H_v = P_u_tightened.A;
+            h_v = P_u_tightened.b;
+
+            X0 = sdpvar(nx,1,'full');
+            constraints = [H_tube*(Z{1}-X0) <= h_tube];
+            objective = 0;
+            for k = 1:N
+                constraints = [ ...
+                    constraints, ...
+                    Z{k+1} == A*Z{k} + B*V{k} , ...
+                    H_z * Z{k} <= h_z, ...
+                    H_v * V{k} <= h_v ...
+                ];
+                objective = objective + Z{k}'*Q*Z{k} + V{k}'*R*V{k};
+            end
+            constraints = [constraints, H_N * Z{end} <= h_N];
+            objective = objective + Z{end}'*P*Z{end};
 
             opts = sdpsettings('verbose',1,'solver','quadprog');
             obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{V{1} Z{1} objective});
@@ -28,7 +66,8 @@ classdef MPC_TUBE
             [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
             solvetime = toc;
             % YOUR CODE HERE
-            
+            [u, objective] = optimizer_out{:};
+
             feasible = true;
             if (errorcode ~= 0)
                 feasible = false;
-- 
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