mpt_searchTree

MPT_SEARCHTREE Computes a search-tree for a given explicit solution

 ctrlST=mpt_searchTree(ctrl)
 ctrlST=mpt_searchTree(ctrl,Options)

 ---------------------------------------------------------------------------
 DESCRIPTION
 ---------------------------------------------------------------------------
 Computes a search-tree for a given explicit solution according to the algorithm
 proposed by Tondel, Johansen and Bemporad (see literature)

 ---------------------------------------------------------------------------
 INPUT
 ---------------------------------------------------------------------------
 ctrl             - Explicit controller (EPXCTRL object)
 Options.abs_tol  - absolute tolerance

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

 ---------------------------------------------------------------------------
 OUTPUT                                                                                                    
 ---------------------------------------------------------------------------
 ctrlST        - updated controller controller object with the search tree
                 stored in:
 ctrlST.details.searchTree  - Matrix containing the search tree in the
                              following form:  
                       Each row consists of the elements Hi Ki c1 c2 which
                       have the following meaning:
         Hi Ki - Definition of the actual hyperplane, where the tree is branched
         c1 c2 - if positive: Numbers of the rows of searchTree, where the two
                 child nodes can be found.
                 if negative: Negative numbers of the control laws, active in 
                 the two child nodes, which are leaf nodes of the tree

 ---------------------------------------------------------------------------
 LITERATURE
 ---------------------------------------------------------------------------
 "Evaluation of piecewise affine control via binary search tree"; P. Tondel, 
 T. A. Johansen and A. Bemporad; Automatica, Vol. 39, No. 5, pp. 945-950