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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