Description of mpt

DESCRIPTION

MPT_BOOLMINTIME Computes minimum time controller for systems with discrete inputs

 ctrlStruct=mpt_boolMinTime(sysStruct,probStruct)
 ctrlStruct=mpt_boolMinTime(sysStruct,probStruct,Options)

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 DESCRIPTION
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 Computes the solution of a minimum-time problem for a given PWA system
       x(k+1) = A_i x(k) + B_i u(k) + f_i
       y(k)   = C_i x(k) + D_i u(k) + g_i
       for i such that guardX(i) x(k) + guardU(i) u(k) <= guardC(i)  
   s.t.
       (ymin, ymax, umin, umax, dumin, dumax)

 All inputs are assumed to be discrete as defined in sysStruct.Uset

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 INPUT
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 sysStruct         - System structure in the sysStruct format
 probStruct        - Problem structure in the probStruct format

 Options.verbose   - Level of verbosity (see help mpt_init for more details)
 Options.details   - If set to 1, solution of each iteration is stored in the
                       details fields of the resulting controller structure 
                       (0 by default)
 Options.lowmem    - defines memory saving mode
                       0 - consumes a lot of memory but runs fast (default)
                       1 - slight memory saving 
                       2 - heavy memory saving (slow computation)

 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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 ctrlStruct   - Controller structure

 see also MPT_CONTROL, MPT_OPTCONROLPWA

CROSS-REFERENCE INFORMATION

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

domain DOMAIN Computes polytope that is mapped to an another polytope using affine map

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

le LE Checks if polytope P is a subset of polytope Q

length LENGTH Returns number of elements in a polytope array

mldivide MLDIVIDE Set difference

polytope POLYTOPE Default constructor for the POLYTOPE object

reduce REDUCE Reduces the polytope by removing redundant inequalities

reduceunion REDUCEUNION Removes redundant elements from a polytope array

size SIZE Returns size of the given polytope object

mpt_infsetPWA MPT_INFSETPWA Computes (robust) positive invariant subset for PWA systems

mpt_allcombs MPT_ALLCOMBS All combinations of discrete-valued inputs

mpt_error MPT_ERROR Function called if MPT toolbox is not initialized

mpt_lti2pwa MPT_LTI2PWA Converts an LTI system to a PWA system

mpt_sysStructInfo MPT_SYSSTRUCTINFO Returns information about system structure

mpt_verifySysProb MPT_VERIFYSYSPROB Verifies system and problem structures

unitbox UNITBOX Creates a unit box centered at origin

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

mpt_boolMinTime

PURPOSE

SYNOPSIS

DESCRIPTION

CROSS-REFERENCE INFORMATION