Description of mpt

DESCRIPTION

MPT_SOLVEMPC Solves the on line optimization MPC problem

 [U,feasible,fval,sysStruct,probStruct,Matrices]=mpt_solveMPC(x0,sysStruct,probStruct,Matrices,Options)

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 DESCRIPTION
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 Solves the optimization problem associated to the initial state x0 via LP, QP or LMI

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 INPUT
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 x0            -   current state / initial state x(0)
 sysStruct     -   system Structure (type "help mpt_sysStruct")
 probStruct    -   problem Structure (type "help mpt_probStruct")
 Matrices      -   Optional: constraint matrices, if already known
 Options       -   Options for mpt_solveLP / mpt_solveQP
   .solveLMI   -   1/0 if set to "1", the SOCP solver is used to solve the 2-norm
                   problem; 
                   NOTE: first call to SOCP solver takes significantly longer than
                         subsequent calls.


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 OUTPUT                                                                                                    
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 U             -   optimizer, i.e. optimal input sequence
 feasible      -   1/0 flag; set to 1 if problem is feasible
 fval          -   Value function associated to optimizer
 sysStruct     -   updated (verified) sysStruct 
 probStruct    -   updated (verified) probStruct
 Matrices      -   constraint and objective Matrices; can be used as input for the 
                   next call to this function

 see also mpt_mplp, mpt_mpqp for explicit feedback solutions

CROSS-REFERENCE INFORMATION

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

set SET Set a field of MPTCTRL objects

double DOUBLE Function used to access internal properties of the given polytope

end END Returns the last element in a given polytope array

length LENGTH Returns number of elements in a polytope array

set SET Used to modify internal properties of a given polytope object

size SIZE Returns size of the given polytope object

mpt_error MPT_ERROR Function called if MPT toolbox is not initialized

mpt_sysStructInfo MPT_SYSSTRUCTINFO Returns information about system structure

mpt_verifyProbStruct MPT_VERIFYPROBSTRUCT Verifies the probStruct structure

mpt_verifySysStruct MPT_VERIFYSYSSTRUCT Verifies the sysStruct structure

mpt_constructMatrices MPT_CONSTRUCTMATRICES Constructs matrices for the finite time constrained optimal control problem

mpt_simSys MPT_SIMSYS Simulates evolution of a given system

mpt_solveLP MPT_SOLVELP Interface to various LP solvers

mpt_solveMILP MPT_SOLVEMILP Interface to various MILP solvers

mpt_solveMIQP MPT_SOLVEMIQP Interface to various MIQP solvers

mpt_solveQP MPT_SOLVEQP Interface to various QP solvers

mpt_getInput MPT_GETINPUT For a given state, extracts the (optimal) output from a controller structure

mpt_solveMPC

PURPOSE

SYNOPSIS

DESCRIPTION

CROSS-REFERENCE INFORMATION