# PWAR APPROXIMATION

Performs a PWAR constrained approximation of an MPC controller

## Contents

Function of MOBY-DIC TOOLBOX.

## Description

This function is a wrapper for functions pwarLPApproxYalmip, pwarLPApproxLpsolve and pwarLMIApproxYalmip. A more detailed description can be found in the documentation of these functions. This function checks that the inputs are correct, starts the matlabpool for multithreading computing (if requested) and, based on the requested norm, calls one of the above mentioned functions.

## Syntax

**Cpwar = pwarApproximation(Cpwag,system,constr,D,options)**

Cpwag is a pwag object defining the optimal MPC control function to approximate.

system is a linearSystem or pwaSystem object defining the system to be controlled. constr is a constraints object defining the constraints that the approximated controller must satisfy.

D is the domain in which you want to obtain the approximation. The domain is represented as a matrix in the form

options is a structure, see 'help pwarApproxSettings' for an overview of all fields and their purpose.

## Acknowledgements

Contributors:

- Bart Genuit (b.a.g.genuit@tue.nl)

Copyright is with:

- Copyright (C) 2012 TU Eindhoven, The Netherlands.