PWA_DI_ADDU 2nd order PWA example with 4 PWA dynamics and additive uncertainty
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DESCRIPTION
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Sample PWA system with 2 states, 1 control input and an additive disturbance
The affine dynamics is defined over 4 different 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!)
* Additive uncertainty = unitbox(2,0.2)
USAGE:
pwa_DI_addU
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