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1 | function [H,S]=create_CHS(A,B,C,N,M); |
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2 | % CREATE_CHS Internal function to define matrices for MPC problem |
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3 | |
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4 | % Author Johan Löfberg |
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5 | % $Id: create_CHS.m,v 1.2 2004/07/02 08:17:29 johanl Exp $ |
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6 | |
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7 | % How many states |
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8 | n=length(A);p=size(C,1); |
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9 | [dummy,m]=size(B); |
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10 | |
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11 | H=zeros(N*p,length(A)); |
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12 | S=zeros(N*p,N*m); |
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13 | |
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14 | Acum=A; |
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15 | for j=1:N, |
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16 | H(1+p*(j-1):p*j,:)=C*Acum; |
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17 | Acum=Acum*A; |
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18 | end; |
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19 | |
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20 | for j=1:N, |
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21 | Acum=eye(n); |
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22 | for k=j:-1:1, |
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23 | S(1+p*(j-1):p*j,1+m*(k-1):k*m)=C*Acum*B; |
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24 | Acum=Acum*A; |
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25 | end; |
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26 | end; |
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