Home > mpt > extras > auxiliary > mpt_yalmip2mpt.m

mpt_yalmip2mpt

PURPOSE

mpt_yalmip2mpt - expand YALMIP model and convert it to MPT format

SYNOPSIS

function Matrices = mpt_yalmip2mpt(F, obj, parametric_vars, requested_vars)

DESCRIPTION

 mpt_yalmip2mpt - expand YALMIP model and convert it to MPT format

 Objective(quadratic);
   min U'*Matrices.H*U + Matrices.F'*x0*U

 Constraints:
  Matrices.G*U <= Matrices.W + Matrices.E*x0
  Matrices.Aeq*U + Matrices.Beq*x0 == Matrices.beq

CROSS-REFERENCE INFORMATION

This function calls:

end END Returns the last element in a given polytope array
mpt_error MPT_ERROR Function called if MPT toolbox is not initialized

This function is called by:

mptctrl MPTCTRL Constructor for the MPT controller object
mpt_ownmpc MPT_OWNMPC The "Design your own MPC" function