mpt_computePWATset

MPT_COMPUTEPWATSET Computes a stabilizing control invariant set (+ controllers) around the origin

 [Pn,Fi,Gi,dynamics,probStruct]=mpt_computePWATset(sysStruct,probStruct,originindynamics,Options)

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 DESCRIPTION
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 Function computes a stabilizing piecewise linear feedback law for the PWA system
 sysStruct, i.e., for all dynamics which contain the origin. Susequently the maximal 
 invariant subset of the resulting partition is computed. Furthermore, the probstruct is 
 updated with the cost-to-go required to obtain closed-loop stability if the set is used
 as a target set in MPC algorithms.

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 INPUT
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 sysStruct           - System structure in the sysStruct format
 probStruct          - Problem structure in the probStruct format

 originindynamics    - Optional field: if dynamics which contain the origin are already known,
                       the user can pass this vector of integers. We recommend to leave this 
                       field empty. 

 Options.verbose     - Level of verbosity (see help mpt_init for more details)

 Note: If Options is missing or some of the fields are not defined, the default
       values from mptOptions will be used

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 OUTPUT
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 Pn             - polytope array which describes the control invariant set
 Fi{},Gi{}      - cell arrays containing the feedback law for each dynamic i
 dynamics       - vector which associates each region in Pn to a certain dynamic i
 probStruct     - updated probStruct; cost-to-go P was updated.

 see also MPT_INFSETPWA, MPT_GETSTABFEEDBACK