Line | |
---|
1 | function test_robust_2 |
---|
2 | |
---|
3 | yalmip('clear') |
---|
4 | |
---|
5 | Anominal = [0 1 0;0 0 1;0 0 0]; |
---|
6 | B = [0;0;1]; |
---|
7 | Q = eye(3) |
---|
8 | R = 1; |
---|
9 | |
---|
10 | alpha = sdpvar(1) |
---|
11 | A = double2sdpvar(Anominal); |
---|
12 | A(1,3) = alpha; |
---|
13 | |
---|
14 | %We have now created a parameterized system, and can proceed as before. |
---|
15 | Y = sdpvar(3,3); |
---|
16 | L = sdpvar(1,3); |
---|
17 | |
---|
18 | F = set(Y >=0); |
---|
19 | F = F + set([-A*Y-B*L + (-A*Y-B*L)' Y L';Y inv(Q) zeros(3,1);L zeros(1,3) inv(R)] > 0) |
---|
20 | |
---|
21 | F = F + set(-0.1 <= alpha <= 0.1); |
---|
22 | |
---|
23 | sol = solverobust(F,-trace(Y),[],alpha) |
---|
24 | |
---|
25 | K = double(L)*inv(double(Y)) |
---|
26 | |
---|
27 | mbg_asserttolequal(sol.problem, 0, 1e-5); |
---|
28 | mbg_asserttolequal(K - [-1.3674 -2.9158 -2.6670], 0, 1e-3); |
---|
29 | |
---|
30 | |
---|
31 | alpha = sdpvar(1) |
---|
32 | A = double2sdpvar(Anominal); |
---|
33 | A(1,3) = alpha; |
---|
34 | |
---|
35 | L0 = sdpvar(1,3); |
---|
36 | L1 = sdpvar(1,3); |
---|
37 | L = L0 + alpha*L1; |
---|
38 | |
---|
39 | Y0 = sdpvar(3,3); |
---|
40 | Y1 = sdpvar(3,3); |
---|
41 | Y = Y0 + alpha*Y1; |
---|
42 | |
---|
43 | F = set(Y >=0); |
---|
44 | F = F + set([-A*Y-B*L + (-A*Y-B*L)' Y L';Y inv(Q) zeros(3,1);L zeros(1,3) inv(R)] > 0) |
---|
45 | F = F + set(-0.1 <= alpha <= 0.1); |
---|
46 | sol = solverobust(F,-trace(Y),[],alpha) |
---|
47 | |
---|
48 | mbg_asserttolequal(sol.problem, 0, 1e-5); |
---|
49 | Y0 = double(Y0); |
---|
50 | Y1 = double(Y1); |
---|
51 | mbg_asserttolequal(max([trace(Y0-0.1*trace(Y1)) trace(Y0+0.1*trace(Y1))]),2.3319, 1e-3); |
---|
Note: See
TracBrowser
for help on using the repository browser.