DOUBLE_INTEGRATOR_PARU 2nd order LTI example with polytopic uncertainty
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DESCRIPTION
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2nd order Double Integrator dynamics with 2 states and 1 control input
Default values are:
* Norm 2
* Prediction horizon N = 5
* Weight in the cost function Q = I, R = 1
* No bounds on x0
* Level of suboptimality = 0
* Parametric uncertainty
Correct results:
probStruct.N : 5 | 8 | Inf | Inf | Inf
probStruct.subopt_lev : 0 | 0 | 0 | 1 | 2
# regions : 41 | 57 | 69 | 66 | 7
USAGE:
Double_Integrator_parU
ctrlStruct = mpt_control(sysStruct,probStruct);
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INPUT
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none
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OUTPUT
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sysStruct, probStruct - system and problem definition structures stores
in the workspace