Implicit minimum-time MPC controller
ctrl = MinTimeController(model)
model |
Any MPT3 system (LTISystem, PWASystem,
MLDSystem) Class: AbstractSystem |
ctrl | Instance of the MinTimeController class. |
sys = LTISystem('A', 1, 'B', 1, 'C', 1, 'D', 0)
LTISystem with 1 state, 1 input, 1 outputDefine constraints
sys.x.min = -1; sys.x.max = 1;
sys.u.min = -1; sys.u.max = 1;Define penalties (we use squared two-norm with unity weights here)
sys.x.penalty = QuadFunction(1);
sys.u.penalty = QuadFunction(1);Construct the minimum-time controller
ctrl = MinTimeController(sys)
Minimum-time controller (horizon: 1)Convert the controller to its explicit form
expctrl = ctrl.toExplicit()
Computing stabilizing terminal controller... Iteration 1... Iterating... New horizon: 1 mpt_plcp: 1 regions Explicit minimum-time controller (horizon: 1, regions: 2, partitions: 2)
◀ | mpt | evaluate | ▶ |
© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk