PWA_DI 2nd order PWA example with 4 PWA dynamics
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DESCRIPTION
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Sample PWA system with 2 states and 1 control input.
The affine dynamics is defined over 4 different regions.
Note: with probStruct.subopt_lev=1 the solution consists of 220 regions
with probStruct.subopt_lev=2 the solution consists of 144 regions
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
USAGE:
pwa_DI
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