PWA2D 2nd order PWA example with 2 PWA dynamics
---------------------------------------------------------------------------
DESCRIPTION
---------------------------------------------------------------------------
The example is taken from:
author = {D.Q. Mayne and S. Rakovi\'{c}},
year = 2003,
title = {Model predicitve control of constrained piecewise affine discrete-time systems},
journal = {Int. J. of Robust and Nonlinear Control},
volume = 13,
number=3,
month=apr,
pages = {261--279}
Default values are:
* Norm = 2
* Prediction horizon N = Inf
* Weight in the cost function Q = I, R = 0.1
* No bounds on x0
* Level of suboptimality = 1 (needed for PWA systems!)
* No uncertainty
Note: with probStruct.subopt_lev=1 the solution consists of 161 regions
with probStruct.subopt_lev=2 the solution consists of 108 regions
USAGE:
pwa2d
ctrlStruct = mpt_control(sysStruct,probStruct);
---------------------------------------------------------------------------
INPUT
---------------------------------------------------------------------------
none
---------------------------------------------------------------------------
OUTPUT
---------------------------------------------------------------------------
sysStruct, probStruct - system and problem definition structures stores
in the workspace