mpt_error
PURPOSE 
MPT_ERROR Function called if MPT toolbox is not initialized
SYNOPSIS
function mpt_error
DESCRIPTION
CROSS-REFERENCE INFORMATION
This function calls:
This function is called by:
- modify MODIFY Modifies an MPTCTRL object
- mptctrl MPTCTRL Constructor for the MPT controller object
- and AND Intersection of n polytopes
- bounding_box BOUNDING_BOX Compute a bounding box for a given polytope
- distance DISTANCE Distance between two sets
- distribpoints DISTRIBPOINTS Distribute n points such that distances between them are maximized
- envelope ENVELOPE Computes envelope of n polytopes
- eq EQ Checks if two polytopes are equal
- extreme EXTREME Calculates extreme points of a given polytope
- facetvoronoi FACETVORONOI Computes an equivalent of voronoi diagrams for facets
- hull HULL Convex hull of n polytopes
- intersect INTERSECT Intersection of 2 polytopes or polytope arrays
- isbounded ISBOUNDED Checks if a polytope is bounded
- isredundant ISREDUNDANT Check if a constraint is redundant
- le LE Checks if polytope P is a subset of polytope Q
- loadobj LOADOBJ load filter for POLYTOPE objects.
- lt LT Checks if polytope P is a strict subset of polytope Q
- minus MINUS Pontryagin difference
- mldivide MLDIVIDE Set difference
- ne NE Checks if two polytopes are not equal
- plot PLOT Plots polytopes in 2D or 3D
- plus PLUS Minkowski sum of two polytopes
- polytope POLYTOPE Default constructor for the POLYTOPE object
- projection PROJECTION Projection of a polytope or a polytope array
- range RANGE Affine transformation of a polytope
- reduce REDUCE Reduces the polytope by removing redundant inequalities
- regiondiff REGIONDIFF Region difference
- regiondiffXU REGIONDIFFXU Computes region difference in lifted XU space
- slice SLICE cuts a polytope (polytope array) at prespecified values
- triangulate TRIANGULATE Calculates triangulation of arbitrary polytopes
- union UNION convex union computation
- volume VOLUME Calculates volume of a polytope
- mpt_checkLyapFct MPT_CHECKLYAPFCT Checks if a function is a Lyapunov function for a given ctrlStruct
- mpt_computePWATset MPT_COMPUTEPWATSET Computes a stabilizing control invariant set (+ controllers) around the origin
- mpt_dlyap_infnorm Lyapunov equation with inf-norm for discrete-time LTI systems
- mpt_getCommonSOSLyapFct MPT_GETCOMMONSOSLYAPFCT Calculates Common SOS Lyapunov function for system with additive disturbance
- mpt_getPWALyapFct MPT_GETPWALYAPFCT Calculates PWA Lyapunov function
- mpt_getPWPLyapFct MPT_GETPWPLYAPFCT Calculates Piecewise Polynomial (sum of squares) Lyapunov function
- mpt_getPWQLyapFct MPT_GETPWQLYAPFCT Calculates PWQ Lyapunov function
- mpt_getQuadLyapFct MPT_GETQUADLYAPFCT Computes common Lyapunov function for PWA system
- mpt_getReachSubset MPT_GETREACHSUBSET Computes a subset of P which enters Pfin
- mpt_infset MPT_INFSET Calculates the maximal positively invariant set for an LTI system
- mpt_infsetPWA MPT_INFSETPWA Computes (robust) positive invariant subset for PWA systems
- mpt_isPWAbigger MPT_ISPWABIGGER Test if one PWA function is bigger than a second PWA function
- mpt_maxCtrlSet MPT_MAXCTRLSET Computes the maximal robust control invariant set C_inf
- mpt_removeOverlaps MPT_REMOVEOVERLAPS Removes overlaps from (a set of) polyhedral partitions with associated linear cost
- mpt_searchTree MPT_SEARCHTREE Computes a search-tree for a given explicit solution
- mpt_transmap MPT_TRANSMAP Computes transition map
- mpt_verify MPT_VERIFY Verifies if states enter a given set in a given number of steps
- identifyRegion IDENTIFYREGION plots the number of the polytopes into the current figure
- mpt_feasibleStates MPT_FEASIBLESTATES returns equidistantly spaced data points in feasible set
- mpt_getCommonLyapFct MPT_GETCOMMONLYAPFCT Computes common Lyapunov function for PWA system
- mpt_getOptimizer MPT_GETOPTIMIZER For a given state, extracts the optimizer obtained by a multi-parametric solver
- mpt_lti2pwa MPT_LTI2PWA Converts an LTI system to a PWA system
- mpt_mldsim MPT_MLDSIM Simulates an MLD system for one time step
- mpt_mplp_ver1 MPT_MPLP Explicitly solves the given linear program (LP)
- mpt_mplp_ver2 MPT_MPLP Explicitly solves the given linear program (LP)
- mpt_mplp_ver3 MPT_MPLP Explicitly solves the given linear program (LP)
- mpt_mplp_ver4 MPT_MPLP Explicitly solves the given linear program (LP)
- mpt_mplp_ver5 MPT_MPLP Explicitly solves the given linear program (LP)
- mpt_mplp_ver6 MPT_MPLP Explicitly solves the given linear program (LP)
- mpt_mplp_ver7 MPT_MPLP Explicitly solves the given linear program (LP)
- mpt_norm2pwa MPT_NORM2PWA transformes a linear norm into an equivalent PWA fcn representation
- mpt_optControlPWAold MPT_OPTCONTROLPWA Solves the CFTOC problem for a given PWA system
- mpt_performance MPT_PERFORMANCE Computes performance (i.e. sum of closed-loop costs) associated to a given controller
- mpt_verifyProbStruct MPT_VERIFYPROBSTRUCT Verifies the probStruct structure
- mpt_verifySysProb MPT_VERIFYSYSPROB Verifies system and problem structures
- mpt_verifySysStruct MPT_VERIFYSYSSTRUCT Verifies the sysStruct structure
- mpt_yalmip2mpt mpt_yalmip2mpt - expand YALMIP model and convert it to MPT format
- mpt_yalmipDU MPT_YALMIPDU Augmentes the system to cope with deltaU constraints
- mpt_yalmipTracking MPT_YALMIPTRACKING Extends system and problem matrices to deal with tracking
- sub_computeTrajectory sub_COMPUTETRAJECTORY Calculates time evolution of state trajectories subject to control
- sub_getyalmipdata SUB_GETYALMIPDATA Internal function
- hys2pwa HYS2PWA Transformation of HYSDEL model into PWA model
- mpt_hyparr ===============================================================================
- mpc_mip ===============================================================================
- mpt_blockingMatrices MPT_BLOCKINGMATRICES Constructs matrices for the CFTOC problem for move blocking strategies
- mpt_boolMinTime MPT_BOOLMINTIME Computes minimum time controller for systems with discrete inputs
- mpt_constructMatrices MPT_CONSTRUCTMATRICES Constructs matrices for the finite time constrained optimal control problem
- mpt_getInputXU MPT_GETINPUTXU For a given state, extracts the an output from an XUset
- mpt_getStabFeedback MPT_GETSTABFEEDBACK Computes a stabilizing feedback law for a PWA system
- mpt_iterative MPT_ITERATIVE Computes a time-optimal or low-complexity explicit controller for LTI systems
- mpt_iterativePWA MPT_ITERATIVEPWA Computes a time-optimal or low-complexity explicit controller for PWA systems
- mpt_mixedMinTime MPT_MIXEDMINTIME Computes minimum time controller for systems with discrete and continuous inputs
- mpt_oneStepCtrl MPT_ONESTEPCTRL Computes low complexity controller for LTI systems
- mpt_optBoolCtrl MPT_OPTBOOLCTRL Computes optimal controller for systems with discrete inputs
- mpt_optControl MPT_OPTCONTROL Solves the CFTOC problem for a given LTI system
- mpt_optControlPWA MPT_OPTCONTROLPWA Solves the CFTOC problem for a given PWA system
- mpt_optInfControl MPT_OPTINFCONTROL Solves the infinite-time constrained optimal control problem for LTI systems
- mpt_optInfControlPWA MPT_OPTINFCONTROLPWA Solves the infinite-time constrained optimal control problem for PWA systems
- mpt_optMixedCtrl MPT_OPTMIXEDCTRL Computes optimal controller for systems discrete and continuous inputs
- mpt_optQuadCtrl MPT_OPTQUADCTRL CFTOC of PWA systems with quadratic cost
- mpt_simplexContr MPT_SIMPLEXCONTR Computes a piecewise affine feedback law defined over simplices
- mpt_solveMPC MPT_SOLVEMPC Solves the on line optimization MPC problem
- mpt_yalmipcftoc MPT_YALMIPCFTOC CFTOC of PWA systems
- mpt_hyparr2 ===============================================================================
- hull HULL Converts vertices/polytope array into an H-representation polytope
- mpt_delaunay MPT_DELAUNAY Computes the delaunay triangulation of a polytope
- mpt_voronoi MPT_VORONOI Computes the voronoi diagram via mpLP
- mpt_plotLyapunov MPT_PLOTLYAPUNOV Plots lyapunov function stored in a controlle
- mpt_plotPWA MPT_PLOTPWA Plots a PWA function defined over a given polyhedral partition
- mpt_plotPWQ MPT_PLOTPWQ Plots a PWQ function defined over polyhedral partition
- mpt_plotPartition MPT_PLOTPARTITION Plots a polyhedral partition obtained by mpt_control
- mpt_plotTimeTrajectory MPT_PLOTTIMETRAJECTORY Plots trajectories of states, inputs, outputs and disturbances
- mpt_plotTrajectory MPT_PLOTTRAJECTORY Graphical interface for piloting trajectories for LTI and PWA systems subject to control
- mpt_plotU MPT_PLOTU For a given explicit controller, plots value of the control action
- mpt_computeTrajectory MPT_COMPUTETRAJECTORY Calculates time evolution of state trajectories subject to control
- mpt_control MPT_CONTROL Main control routine. Computes explicit controller for a given problem
- mpt_getInput MPT_GETINPUT For a given state, extracts the (optimal) output from a controller structure
- mpt_invariantSet MPT_INVARIANTSET Computes (robust) positive invariant subset of an explicit controller
- mpt_lyapunov MPT_LYAPUNOV Computes a Lapunov-type function for a given explicit controller
- mpt_ownmpc MPT_OWNMPC The "Design your own MPC" function
- mpt_setup MPT_SETUP Main setup function
- mpt_simSys MPT_SIMSYS Simulates evolution of a given system
- mpt_simplify MPT_SIMPLIFY simplifies a given explicit controller by merging regions with identical control law
- mpt_studio MPT_STUDIO MPT Graphical user interface
- mpt_sys MPT_SYS Converts an object to sysStruct structure
- runExample RUNEXAMPLE Demonstrates MPT control routines
- mpt_mplp MPT_MPLP Explicitly solves the given linear program (LP)
- mpt_mpmilp MPT_MPMILP Multi-Parametric Mixed-Integer LP solver
- mpt_mpmiqp MPT_MPMIQP Multi-Parametric Mixed-Integer QP solver
- mpt_mpqp MPT_MPQP Explicitly solves the given quadratic program (QP)
- mpt_solveLP MPT_SOLVELP Interface to various LP solvers
- mpt_solveMILP MPT_SOLVEMILP Interface to various MILP solvers
- mpt_solveMIQP MPT_SOLVEMIQP Interface to various MIQP solvers
- mpt_solveQP MPT_SOLVEQP Interface to various QP solvers
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