Description of mpt_prepareTracking

DESCRIPTION

MPT_PREPARETRACKING Extends system and problem matrices to deal with tracking

 [sysStructTr, probStructTr] = mpt_prepareTracking(sysStruct, probStruct)

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 DESCRIPTION
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 Extends system and problem matrices to deal with tracking

 internal function

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 INPUT
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 sysStruct   - system definition
 probStruct  - problem definition

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 OUTPUT                                                                                                    
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 sysStructTr   - system definition with tracking
 probStructTr  - problem definition with tracking
        .Rdu   - additional field in probStruct; weight on the delta u; 
                 by default, this is identical to the weight on u;

CROSS-REFERENCE INFORMATION

length LENGTH Returns number of regions over which the explicit control law is defined

double DOUBLE Function used to access internal properties of the given polytope

end END Returns the last element in a given polytope array

isfulldim ISFULLDIM Checks if a polytope is full dimensional

length LENGTH Returns number of elements in a polytope array

polytope POLYTOPE Default constructor for the POLYTOPE object

size SIZE Returns size of the given polytope object

mpt_evalSystem MPT_EVALSYSTEM Extracts data from sysStruct and probStruct structures

mpt_sysStructInfo MPT_SYSSTRUCTINFO Returns information about system structure

mpt_verifyProbStruct MPT_VERIFYPROBSTRUCT Verifies the probStruct structure

mpt_verifySysStruct MPT_VERIFYSYSSTRUCT Verifies the sysStruct structure

mptctrl MPTCTRL Constructor for the MPT controller object

mpt_control MPT_CONTROL Main control routine. Computes explicit controller for a given problem

mpt_prepareTracking

PURPOSE

SYNOPSIS

DESCRIPTION

CROSS-REFERENCE INFORMATION