Rev | Line | |
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[37] | 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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