[37] | 1 | function test_mpt_norm_repeated |
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| 2 | |
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| 3 | % As simple as it gets... |
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| 4 | yalmip('clear') |
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| 5 | sdpvar u0 |
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| 6 | x0 = sdpvar(2,1); |
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| 7 | |
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| 8 | bounds(x0,-2,2); |
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| 9 | bounds(u0,-2,2); |
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| 10 | x1 = [0.1 0.2;0.3 0.4]*x0 + [0.5;0.6]*u0 |
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| 11 | F = set([]); |
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| 12 | F = F + set(norm(x1,1) < norm(x0,1)); |
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| 13 | F = F + set(-2<x0<2); |
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| 14 | F = F + set(-2<x1<2); |
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| 15 | F = F + set(-2<u0<2); |
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| 16 | obj = norm(x0,1); |
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| 17 | [sol,dgn,VV,JJ] = solvemp(F, obj, [], x0) |
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| 18 | |
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| 19 | mbg_asserttrue(length(sol) == 4); |
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| 20 | mbg_asserttrue(dgn.problem == 0); |
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| 21 | |
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| 22 | assign(x0,[1;1]) |
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| 23 | mbg_asserttolequal(double(JJ),2,1e-5); |
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| 24 | |
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| 25 | yalmip('clear') |
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| 26 | sdpvar u0 u1 |
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| 27 | x0 = sdpvar(2,1); |
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| 28 | x1 = sdpvar(2,1); |
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| 29 | x2 = sdpvar(2,1); |
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| 30 | bounds(x0,-2,2); |
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| 31 | bounds(x1,-2,2); |
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| 32 | bounds(x2,-2,2); |
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| 33 | bounds(u0,-2,2); |
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| 34 | bounds(u1,-2,2); |
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| 35 | %x1 = [0.1 0.2;0.3 0.4]*x0 + [0.5;0.6]*u0 |
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| 36 | F = set(x1 ==[0.1 0.2;0.3 0.4]*x0 + [0.5;0.6]*u0); |
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| 37 | F = F + set(x2 ==[0.1 0.2;0.3 0.4]*x1 + [0.5;0.6]*u1); |
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| 38 | F = F + set(norm(x1,1) < norm(x0,1)); |
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| 39 | F = F + set(norm(x2,1) < norm(x1,1)); |
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| 40 | F = F + set(-2<x0<2); |
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| 41 | F = F + set(-2<x1<2); |
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| 42 | F = F + set(-2<x2<2); |
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| 43 | F = F + set(-2<u0<2); |
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| 44 | obj = norm(x0,1)+norm(x1,1); |
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| 45 | sol = solvemp(F, obj, [], x0) |
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| 46 | mbg_asserttrue(length(sol) == 6); |
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| 47 | |
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| 48 | yalmip('clear') |
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| 49 | sdpvar u0 u1 |
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| 50 | x0 = sdpvar(2,1); |
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| 51 | x1 = sdpvar(2,1); |
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| 52 | x2 = sdpvar(2,1); |
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| 53 | bounds(x0,-2,2); |
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| 54 | bounds(x1,-2,2); |
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| 55 | bounds(x2,-2,2); |
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| 56 | bounds(u0,-2,2); |
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| 57 | bounds(u1,-2,2); |
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| 58 | F = set(x1 ==[0.1 0.2;0.3 0.4]*x0 + [0.5;0.6]*u0); |
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| 59 | F = F + set(x2 ==[0.1 0.2;0.3 0.4]*x1 + [0.5;0.6]*u1); |
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| 60 | F = F + set(norm(x2,1) < norm(x1,1)); |
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| 61 | F = F + set(norm(x1,1) < norm(x0,1)); |
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| 62 | F = F + set(-2<x0<2); |
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| 63 | F = F + set(-2<x1<2); |
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| 64 | F = F + set(-2<x2<2); |
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| 65 | F = F + set(-2<u0<2); |
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| 66 | obj = norm(x0,1)+norm(x1,1); |
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| 67 | sol = solvemp(F, obj, [], x0) |
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| 68 | mbg_asserttrue(length(sol) == 6); |
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