Computation of extreme points for cyclic polytopes was sometimes aborted with an error due to a bug in extreme.m.

A fix is available here. The file should be placed to the mpt/@polytope directory of your MPT installation.

Computation of minimum-time controllers for PWA systems was sometimes aborted with an error if (A) target set in probStruct.Tset was defined and (B) no dynamics contains the origin. This is now fixed and the computation of minimum-time controllers goes on correctly. As a side effect, probStruct.P_N = probStruct.Q is assumed if user-defined target set is provided. This is to avoid problems with LQR computation for certain systems.

A fix is available here. The file should be placed to the mpt/extras/control directory of your MPT installation.

For cases of output-reference regulation (probStruct.yref given) the function was showing ghost legends with no corresponding labels.

A fix is available here. The file should be placed to the mpt/extras/graphics directory of your MPT installation.

MPT 2.0.4 now includes the latest release of YALMIP which fixes following two issues:

• Resolved a bug introduced in R20050720 causing symmetry reduction of sum of squares problem to be skipped in some cases.
• Resolved a bug which caused x'*x to act as x.'*x on complex valued column-vectors x.

An updated version of YALMIP can be downloaded here.

We are grateful to the following people for interesting comments and feedback: Blazej Cichy, Johan Löfberg.