Description of mpt

DESCRIPTION

MPT_CONTROL Main control routine. Computes explicit controller for a given problem

 ctrl=mpt_control(sysStruct,probStruct)
 ctrl=mpt_control(sysStruct,probStruct, 'on-line')

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 DESCRIPTION
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 Mother of all control functions. Main control routine of the MPT toolbox.
 Based on the problem definition it calls the appropriate multiparametric 
 controller function to compute explicit controller for both LTI
 and PWA systems. This should be the only function the user needs to call. 

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 USAGE
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 To compute an explicit controller, call:
   ctrl = mpt_control(sysStruct, probStruct)

 To compute an on-line controller, call:
   ctrl = mpt_control(sysStruct, probStruct, 'on-line')

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 INPUT
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 sysStruct    - System structure in the sysStruct format
                (see 'help mpt_sysStruct' for more details)
 probStruct   - Problem structure in the probStruct format
                (see 'help mpt_probStruct' for more details)
 Options      - Optional: User options to be passed to individual control functions
 Options.autoTracking
           If set to 0, system and problem matrices are assumed to be
           augmented for tracking purpose by the user. By default,
           matrices will be extended automatically to guarantee tracking.
 Options.noExtreme
           If set to 0 (default), extreme points of each polytope in the
           controller partition will be computed for faster plotting. Set
           it to 1 if you don't want to compute the extreme points.

    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.                          
                        
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 OUTPUT                                                                                                    
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 ctrl   - Controller object (see 'help mptctrl' for more details)

 see also MPT_OPTCONTROL, MPT_OPTINFCONTROL, MPT_ITERATIVE, MPT_ITERATIVEPWA,
          MPT_OPTCONTOLPWA, MPT_YALMIPCFTOC

CROSS-REFERENCE INFORMATION

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

mptctrl MPTCTRL Constructor for the MPT controller object

dimension DIMENSION Returns dimension of the given polytope

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

end END Returns the last element in a given polytope array

extreme EXTREME Calculates extreme points of a given polytope

hull HULL Convex hull of n polytopes

isfulldim ISFULLDIM Checks if a polytope is full dimensional

length LENGTH Returns number of elements in a polytope array

polytope POLYTOPE Default constructor for the POLYTOPE object

size SIZE Returns size of the given polytope object

mpt_defaultOptions MPT_DEFAULTOPTIONS Sets default values of undefined fields of Options structure

mpt_dlqr MPT_DLQR Linear-quadratic regulator design for discrete-time systems.

mpt_error MPT_ERROR Function called if MPT toolbox is not initialized

mpt_isnoise MPT_ISNOISE Checks if noise object is not empty

mpt_lti2pwa MPT_LTI2PWA Converts an LTI system to a PWA system

mpt_prepareDU MPT_PREPAREDU Extends system and problem matrices to deal with deltaU constraints

mpt_prepareTracking MPT_PREPARETRACKING Extends system and problem matrices to deal with tracking

mpt_sysStructInfo MPT_SYSSTRUCTINFO Returns information about system structure

mpt_verifySysProb MPT_VERIFYSYSPROB Verifies system and problem structures

mpt_boolMinTime MPT_BOOLMINTIME Computes minimum time controller for systems with discrete inputs

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

mpt_iterativePWA MPT_ITERATIVEPWA Computes a time-optimal or low-complexity explicit controller for PWA systems

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

mpt_oneStepCtrl MPT_ONESTEPCTRL Computes low complexity controller for LTI systems

mpt_optControl MPT_OPTCONTROL Solves the CFTOC problem for a given LTI system

mpt_optControlPWA MPT_OPTCONTROLPWA Solves the CFTOC problem for a given PWA system

mpt_optInfControl MPT_OPTINFCONTROL Solves the infinite-time constrained optimal control problem for LTI systems

mpt_optInfControlPWA MPT_OPTINFCONTROLPWA Solves the infinite-time constrained optimal control problem for PWA systems

mpt_yalmipcftoc MPT_YALMIPCFTOC CFTOC of PWA systems

hull HULL Converts vertices/polytope array into an H-representation polytope

mpt_control

PURPOSE

SYNOPSIS

DESCRIPTION

CROSS-REFERENCE INFORMATION