mpt_mixedMinTime

MPT_MIXEDMINTIME Computes minimum time controller for systems with discrete and continuous inputs

 ctrlStruct = mpt_mixedMinTimePWA(sysStruct,probStruct)
 ctrlStruct = mpt_mixedMinTimePWA(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)

 Inputs may be discrete or continuous, 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.iterative=0    
       Use reduced-switching policy (0=no, 1=yes)
 Options.maxiterations=100
       Maximum number of iterations
 Options.verbose
       Level of verbosity (see help mpt_init for more details)
 Options.PWA_savemode=0
       Saving intermediate results in fesibility iterations.
 Options.PWA_warmend=0
       Loads an intermediate result and finishes the controller calculations.
           (without trying to extend the feasible region).
 Options.PWA_loadn=0
       Loads intermediate result from iteration n. (0=Uses last iteration.)
 Options.PWA_savefile='PWA_save'
       Specifies filename prefix for result files.
           Filename is appended with iteration number.
 Options.PWA_savefilelast='PWA_lastsave'
       Specifies filename for info about last sucessful iteration.
 Options.PWA_warmstart=0 (Not implemented yet)
       Loads intermediate result (latest or n), and continues feasibility iteration. 
 Options.PWA_maxTsetTime=Inf
       Interrupts the feasibility iterations after specified time, and continues with 
           current feasible set.

 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_ITERATIVE