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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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
properties
yalmip_optimizer
end
methods
function obj = MPC(Q,R,N,params)
nu = params.model.nu;
nx = params.model.nx;
% define optimization variables
U = sdpvar(repmat(nu,1,N),ones(1,N),'full');
X0 = sdpvar(nx,1,'full');
% YOUR CODE HERE
opts = sdpsettings('verbose',1,'solver','quadprog');
obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{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
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