Multi-Parametric Toolbox Version 2.6 (R14SP3) 30-Mar-2006 Information README.TXT - Installation tips etc. HISTORY.TXT - Version history. BUGS.TXT - Known bugs and limitations Graphical User Interface mpt_studio - MPT Graphical User Interface mpt_setup - Main MPT configuration routine Control routines mpt_control - Computes an explicit or an on-line MPC controller mpt_ownmpc - "Design your own MPC problem" function Simulink library and code generation mpt_sim - MPT Simulink library mpt_exportc - Exports a given explicit controller to C-code Solvers mpt_mplp - Multi-Parametric LP solver mpt_mpqp - Multi-Parametric QP solver mpt_mpmilp - Multi-Parametric Mixed-Integer LP solver mpt_mpmiqp - Multi-Parametric Mixed-Integer QP solver mpt_solveLP - Interface to various LP solvers mpt_solveQP - Interface to various QP solvers mpt_solveMILP - Interface to various MILP solvers mpt_solveMIQP - Interface to various MIQP solvers Analysis and post-processing mpt_invariantSet - Computes invariant set for a given explicit controller mpt_reachSets - Computes sets of reachable states for a given system / controller mpt_verify - Verification of hybrid systems mpt_simplify - Simplifies a given explicit controller mpt_searchTree - Generate a binary search tree for fast region identification Setting up the optimization problem mpt_constructMatrices - Constructs matrices for the finite time constrained optimal control problem mpt_blockingMatrices - Constructs matrices for the CFTOC problem for move blocking strategies Lyapunov analysis routines mpt_lyapunov - Interface for Lyapunov-type function computation Application of control law mpt_getInput - For a given state, extracts the optimal output from controller structure mpt_computeTrajectory - Calculates time evolution of state trajectories subject to control mpt_simSys - Simulates evolution of a given system mpt_plotTimeTrajectory - Plots open-loop or closed-loop trajectories Visualization functions mpt_plotPartition - Plots a polyhedral partition obtained by mpt_control mpt_plotTrajectory - Graphical interface for piloting trajectories for LTI and PWA systems subject to control mpt_plotPWA - Plots a PWA function defined over a given polyhedral partition mpt_plotPWQ - Plots a PWQ function defined over polyhedral partition mpt_plotJ - Plots value function associated to a given controller mpt_plotU - For a given explicit controller, plots value of the control action mpt_plotArrangement - Plots hyperplane arrangement of a polytope in H-representation mpt_plotSysStruct - Plots the system partitions of a PWA system Toolbox interface methods mpt_init - Initializes the MPT toolbox mpt_update - Checks for updates of the Multi-Parametric Toolbox mpt_version - Returns version of MPT mpt_options - Read / modify solver settings for MPT Geometry functions mpt_getInnerEllipsoid - Computes the largest ellipsoid inscribed in a polytope mpt_getOutterEllipsoid - Computes the smallest ellipsoid which covers the polytope P mpt_plotellip - Plots a given ellipsoid mpt_delaunay - Computes the delaunay triangulation of a polytope mpt_voronoi - Computes the voronoi diagram via mpLP Others hull - Converts vertices into an H-representation polytope mousepoly - allows to "draw" a polytope in 2D by mouse unitbox - Creates a hypercube of given dimension centered at origin mpt_removeOverlaps - Removes overlaps from (a set of) polyhedral partitions with associated linear cost mpt_randLTISys - Generates random LTI systems mpt_randPWASys - Generates random PWA systems Demos and Examples runExample - Demonstrates MPT control routines runMoveBlocking - Demonstrates MPT Move Blocking routines mpt_demo1 - Explains basic manipulation with polytopes mpt_demo2 - A tour through visualization capabilities of the toolbox mpt_demo3 - Explains control routines for LTI systems mpt_demo4 - Explains control routines for PWA systems mpt_demo5 - Explains tracking functionality mpt_demo6 - Illustrates implementation and visualization of the control law reachdemo1, reachdemo2 - Reachability analysis demos verifdemo1, verifdemo2 - Verification demos ballandplatedemo - "Ball and plate" demo turbocardemo - "Car with turbo" demo twotanksdemo - "Two tanks" demo mpt_sysStruct - Help file for the system structure sysStruct mpt_probStruct - Description of the problem structure Polytope library see help mpt/polytope Authors: Michal Kvasnica, Pascal Grieder, Mato Baotic kvasnica@control.ee.ethz.ch, grieder@control.ee.ethz.ch, baotic@control.ee.ethz.ch Copyright (C) 2003-2006 Michal Kvasnica, Pascal Grieder, Mato Baotic For support, write to: mpt@control.ee.ethz.ch