PWAR LP APPROX YALMIP
Function to approximate (in a 1,inf-norm sense) a PWA controller by another PWA controller defined over a different partition, using LP's fed to Yalmip.
Contents
Function of MOBY-DIC toolbox.
Syntax
approxOutput = pwarLPApproxYalmip(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:
- Bart Genuit (b.a.g.genuit@tue.nl)
Copyright is with:
- Copyright (C) 2010-2012 Eindhoven University of Technology, The Netherlands.