mpt_pwa2mld

MPT_PWA2MLD Converts a PWA system into the MLD representation

 S = mpt_pwa2mld(sysStruct)

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 DESCRIPTION
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 Converts a PWA system to an equivalent MLD description:

        x(k+1) = A x + B1 u + B2 d + B3 z
         y(k)  = C x + D1 u + D2 d + D3 z
  E2 d + E3 z <= E1 u + E4 x + E5

 The conversion is done by using one binary variable per one region of the PWA
 system.
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 INPUT
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 sysStruct - System structure

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 OUTPUT                                                                                                    
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 S         - Structure containing matrices of the MLD model