mpt_optControlPWA

 MPT_OPTCONTROLPWA Solves the CFTOC problem for a given PWA system

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

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 DESCRIPTION
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 Computes the solution of a constraned finite time optimal control 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)

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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 - no memory saving - fast computation (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 with following fields:
   Pn,Fi,Gi            - for region Pn(i).H*x <= Pn.K(i) computed 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
                         step distance to the origin
   Pfinal              - The maximum control invariant set as a polytope or a polyarray
   dynamics            - Dynamics active in region Pn(i)
   details             - A structure with additional details about the solution
   details.runTime     - total run time of the algorithm
   details.mplpRunTime - time spent for solving mpLP
   details.roRuntime   - time spent for detecting and removing overlaps
   details.Horizon     - a cell array of ctrlStruct's corresponding to each
                         time step of the algorithm (only returned if
                         Options.details > 0)

 see also MPT_CONTROL, MPT_OPTINFCONTROLPWA, MPT_ITERATIVEPWA