mpt_iterative

MPT_ITERATIVE Computes a time-optimal or low-complexity explicit controller for LTI systems

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

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 DESCRIPTION
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 This function computes a minimum-time controller for the system defined in 
 "sysStruct" and problem defined in "probStruct".

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

    See the MPT Manual for additional details on the structure format or   
   consult one of the example systems (e.g. Double_Integator) which were  
    provided with this package.                                            

 Options.lpsolver - Optional: Solver for LPs (see help mpt_solveLP for details)
 Options.abs_tol  - Optional: absolute tolerance
 Options.verbose  - Optional: level of verbosity

 Note: If Options is missing or some of the fields are not defined, the default
       values from mptOptions will be used (see help mpt_init)

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 OUTPUT
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 ctrlStruct    - Controller structure with the following fields:
   Pn,Fi,Gi    - for region Pn(i).H*x <= Pn(i).K control input is U=Fi{i}*x+Gi{i}   
   Ai,Bi,Ci    - cost associated to each region (x'Aix + Bi*x + Ci)
                 Note that Ai and Bi are zero matrices, Ci contains the
                 set distance to the origin
   Pfinal      - The maximum control invariant set as a polytope object
   dynamics    - Dynamics active in region Pn(i)
   details     - Structure with more details about the solution:
     finalPn   \ 
     finalFi   - Partition and PWA control law obtained in the final iteration
     finalGi   /
     loopCtr   - Number of iterations needed to converge
     IterStore - Vector which stores the iteration at which each region was
                 computed, i.e. region j was computed at iteration IterStore(j).

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 LITERATURE
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 "Complexity Reduction of Receding Horizon Control", P. Grieder and M. Morari;
 In the Proceedings of the IEEE Conference on Decision and Control 2003, Maui, Hawaii


 see also MPT_ITERATIVEPWA