mpt_getStabFeedback

MPT_GETSTABFEEDBACK Computes a stabilizing feedback law for a PWA system

 [F,P,feasible] = mpt_getStabFeedback(A,B,Q,R)

 ---------------------------------------------------------------------------
 DESCRIPTION
 ---------------------------------------------------------------------------
 Function computes a stabilizing feedback law for a PWA system defined by the
 cells A{}, B{}. It is assumed that the dynamics are valid in the entire state-
 space. The obtained feedback law also minimizes the cost J=x'Q1x + u'Ru.
 Computation solves an SDP (Yalmip required). 

 ---------------------------------------------------------------------------
 INPUT
 ---------------------------------------------------------------------------
 A{},B{}          - cell array defining the dynamics; x^+=A{i}x+B{i}u
 Q,R              - cost objective J=x'Qx + u'Ru.
 Options.verbose  - level of verbosity

 ---------------------------------------------------------------------------
 OUTPUT
 ---------------------------------------------------------------------------
 F{}       - cell array containing the feedback law for each dynamic i
 P         - common quadratic Lyapunov function V(x)=x'Px for feedback laws F{}
 feasible  - 0/1 flag. Set to 1 if computation was successful

 see also MPT_GETCOMMONLYAPFCT, MPT_GETPWQLYAPFCT