PWA_SINCOS 2nd order PWA example with 2 PWA dynamics
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DESCRIPTION
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Example taken from:
author = {A. Bemporad and M. Morari},
month = March,
year = 1999,
title = {Control of Systems Integrating Logic, Dynamics, and Constraints},
journal = Automatica,
volume = 35,
number = 3,
pages = {407--427},
annote = {\protect{\rm Special issue on hybrid systems}},
Default values are:
* Prediction horizon N = Inf
* Weight in the cost function Q = I, R = 1
* Norm = 2
* No bounds on x0
* Level of suboptimality = 1 (needed for PWA systems!)
* No uncertainty
Note: with probStruct.subopt_lev=1 the solution consists of 174 regions
with probStruct.subopt_lev=2 the solution consists of 174 regions
USAGE:
pwa_sincos
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