PWAR LMI APPROX YALMIP

Function to approximate (in a 2-norm sense) a PWA controller by another PWA controller defined over a different partition, using LMI's fed to Yalmip.

Contents

Function of MOBY-DIC toolbox.

Syntax

approxOutput = pwarLMIApproxYalmip(approxInput, Ohm, S_ij, level, m)

approxInput		input structure with fields:
	P	original partitioning, [1*nr] @polytope array object.
	Fi, Gi	[1*nr] cell arrays of original controller parameters, resp. [nu*nx] and [nu*1].
	Hi, Ki	[1*nr] cell arrays of original controller regions, resp. [nc*nx] and [nc*1].
	Acell, Bcell, acell	[1*nr] cell arrays containing system model matrices.
	dynamics	[1*nr] array linking dynamics to each cell in P.
	nx, nu	number of states and inputs of the system.
	rhomax	number of states and inputs of the system.
	options	options structure, see pwarApproxSettings.
Ohm		approximate (new) region, @polytope object.
S_ij		[1*ns] array of indices of regions in P that (partly) overlap the current region Ohm.
level		current level of refinement (for diagnostics only).
m		number of current cell Ohm (for diagnostics only).
approxOutput		output structure with fields:
	K, k	[nx*ny], [1*ny] matrices containing the controllers.
	rho	achieved approximation error.
	refine	flag, '1' if region needs to be refined, '0' otherwise.
	action	integer denoting action taken, 1 = 'normal, approximated', 2 = 'infeasible' and 4 = 'feasible but rho > rhomax'.
	diag	structure containing diagnostic information

See also

pwarApproximation, pwarLPApproxLpsolver.

Acknowledgements

Contributors:

Copyright is with:

Published with MATLAB® 7.8