MPT 2.0.3 Changelog
Unified exitflag output from mpt_solveLP
mpt_solveLP now outputs the following
exitflag codes:
1 - optimal solution0 - unbounded or undecided solution-1 - infeasible solution
isconvex decides whether a union of polytope is convex
For a given union of polytopes the command isconvex returns
true if the union is convex, false is returned otherwise.
>> flag = isconvex(P);
facetvoronoi computes something like a "voronoi diagram for facets"
For a given bounded polytope P the function splits the polytope
into parts such that every point from each part is closer to a given facet than
to any other facets of P
>> V = facetvoronoi(P);
mpt_evalPWA evaluates a PWA function at a given location
A PWA function defined over a polyhedral partition Pn by expression
V = F{i}*x + G{i} can now be evaluated quickly by this command:
>> value = mpt_evalPWA(Pn, F, G);
Major speedup of invariant sets computation
The speedup was achived using isconvex to compute convex unions,
which is superior to the approach which was used previously.
Important improvements and bug fixes
-
polytope/isbounded is now less sensitive to numerical problems
(by Miroslav Baric)
-
polytope/regiondiff now exits quickly if input polytope is not
fully dimensional
-
fixed conversion of MLD systems with boolean states to PWA
form
-
polytope/facetcircle is now more numerically robust
-
better handling of empty regions in mpt_mplp (by Miroslav
Baric)
-
hull.m: use unreduced (H,K) pair when checking hull
correctness (by Mario Vasak)
-
mpt_sysStructInfo now propely detect intersections of dynamics
in X-space
-
polytope/plot - minor updates by Frank J. Christophersen
-
enforce deltaU constraints in closed-loop in on-line MPC for
hybrid systems
-
mpt_sys: properly handle cases where both Ts
and nopwa flag are given
-
include constraints on final states when solving an on-line
MPC for hybrid systems
-
fixed issue with GLPKMEX giving different results on
subsequent runs
-
polytope/envelope - if envelope is R^n, keep dimension of
input polytope
-
check if
probStruct.Rdu is positive definite (for 2-norm)
-
mpt_solveLP - use e04naf()'s syntax for equality constraints
-
renamed
mpt_ss2mld to mpt_pwa2hys
-
use
mpt_pwa2mld when converting from PWA to MLD form
Acknowledgment
We are grateful to the following people for interesting comments and
feedback: Alessandro Magnani, Alessandro Pinto, Antoine Rennuit,
Arno van der Heijden, Leo Grady, Mario Vasak, Peter Ortner,
Viviana Miranda Ureta
.
