MPT_GETOPTIMIZER For a given state, extracts the optimizer obtained by a multi-parametric solver
[U,feasible,region]=mpt_getOptimizer(Pn,Fi,Gi,x0,Options)
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DESCRIPTION
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For the given state x0, this function extracts the optimizer $U = Fi x + Gi$
from a solution obtained by a multi-parametric solver
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INPUT
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Pn - polyhedral partition
Fi, Gi - cells containing the associated control law
x0 - initial state
Options.lpsolver - Solver for LPs (see help mpt_solveLP for details)
Options.abs_tol - absolute tolerance
Options.verbose - Level of verbosity
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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U - control input computed as U=F*x0 + G,
region - index of a region which contains the optimal control input associated
to the given state x0
feasible - returns 1 if the there is at least one control law associated to
a given state x0, 0 otherwise
see also MPT_MPLP, MPT_MPQP, MPT_GETINPUT