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1 | function mpt_lti_3 |
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2 | |
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3 | % Data |
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4 | A = [2 -1;1 0];nx = 2; |
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5 | B = [1;0];nu = 1; |
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6 | C = [0.5 0.5]; |
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7 | |
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8 | % Prediction horizon |
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9 | N = 3; |
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10 | |
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11 | % States x(k), ..., x(k+N) |
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12 | x = sdpvar(repmat(nx,1,N),repmat(1,1,N)); |
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13 | |
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14 | % Inputs u(k), ..., u(k+N) (last one not used) |
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15 | u = sdpvar(repmat(nu,1,N),repmat(1,1,N)); |
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16 | |
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17 | % Value functions |
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18 | J = cell(1,N); |
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19 | |
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20 | % Initialize value function at stage N |
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21 | J{N} = 0; |
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22 | U{N} = 0; |
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23 | k=N-1; |
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24 | |
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25 | for k = N-1:-1:1 |
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26 | |
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27 | % Feasible region |
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28 | bounds(x{k},-5,5); |
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29 | bounds(u{k},-1,1); |
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30 | bounds(x{k+1},-5,5); |
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31 | |
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32 | F = set(-1 < u{k} < 1); |
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33 | F = F + set(-1 < C*x{k} < 1); |
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34 | F = F + set(-5 < x{k} < 5); |
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35 | F = F + set(-1 < C*x{k+1} < 1); |
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36 | F = F + set(-5 < x{k+1} < 5); |
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37 | |
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38 | % LTI Dynamics |
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39 | F = F + set(x{k+1} == A*x{k}+B*u{k}); |
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40 | |
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41 | obj =x{k}'*x{k} + u{k}'*u{k}; |
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42 | |
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43 | % Compute value function for one step backwards |
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44 | [mpsol{k},sol{k},Uz{k},J{k}] = solvemp(F,obj + J{k+1},[],x{k},u{k}); |
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45 | end |
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46 | |
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47 | mbg_asserttrue(sol{1}.problem == 0); |
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