Detailed build log for mpt-26x_20070307_1451.zip

Runtime	action
0.0 secs	`build process started at 07-Mar-2007 14:51:55`
0.0 secs	`previous build detected: mpt-26x_20061211_1007.zip 2006-12-11 10:07`
0.0 secs	`Last tip found: a1c8732c01dc`
0.0 secs	`uname -a`
	`Linux autlux03 2.6.16.32-ia32-isg-ee-sm-pxe-smp-1 #1 SMP Mon Nov 20 14:23:52 CET 2006 i686 GNU/Linux`
0.0 secs	`version`
	`ans = 6.5.1.199709 (R13) Service Pack 1`
0.0 secs	`cd('/home/mpt/matlab/mpt-utils/')`
0.0 secs	`mkdir mptdistr`
0.0 secs	`cd('mptdistr')`
41.0 secs	`hg clone /home/mpt/hg/mpt-26x mpt`
	`Not trusting file /home/mpt/hg/mpt-26x/.hg/hgrc from untrusted user mpt, group ifa requesting all changes adding changesets adding manifests adding file changes added 976 changesets with 2535 changes to 976 files 971 files updated, 0 files merged, 0 files removed, 0 files unresolved`
0.0 secs	`cd('/home/mpt/matlab/mpt-utils')`
0.0 secs	`cd('mptdistr/mpt/testing')`
0.0 secs	`delete('.')`
0.0 secs	`cd('..')`
0.3 secs	`rmdir('testing')`
0.0 secs	`cd('/home/mpt/matlab/mpt-utils')`
7.1 secs	`unzip yalmip.zip -d /home/mpt/matlab/mpt-utils/mptdistr/mpt`
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1.3 secs	`unzip ellipsoids.zip -d /home/mpt/matlab/mpt-utils/mptdistr/mpt`
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/home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/@reach/private/fix_iesm.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/@reach/private/iedist_de.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/@reach/private/iesm_de.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/@reach/private/matrix_eval.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/@reach/private/my_color_table.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/@reach/projection.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/@reach/reach.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/@reach/refine.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/@reach/subsref.m creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/ell_center_ode.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/ell_eedist_ode.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/ell_eesm_ode.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/ell_iedist_ode.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/ell_iesm_ode.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/ell_ode_solver.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/ell_regularize.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/ell_stm_ode.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/ell_value_extract.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary/iesm_ode.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/COPYRIGHT.txt creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/demo/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/demo/circuit.jpg inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/demo/circuitls.jpg inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/demo/econ.jpg inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/demo/ell_demo1.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/demo/ell_demo2.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/demo/ell_demo3.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/demo/springmass.jpg inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/demo/springmassls.jpg creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/doc/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/doc/ET_Manual.pdf inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/ellipsoids_init.m creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/graphics/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/graphics/ell_plot.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/graphics/ell_square_facets.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/graphics/ell_triag_facets.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/install.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/README.txt creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/solvers/ creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/solvers/gradient/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/solvers/gradient/ell_nlfnlc.m creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/solvers/gradient/private/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/solvers/gradient/private/compute_direction.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/solvers/gradient/private/nlcp_solve.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/solvers/gradient/private/qps.m
1.7 secs	`unzip HIT.zip -d /home/mpt/matlab/mpt-utils/mptdistr/mpt`
	Archive: HIT.zip creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/ creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/analysis/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/analysis/hit_mse.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/analysis/hit_holes.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_pwarx_format_data.m creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/clustering/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/clustering/hit_find_clusters.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/clustering/hit_kmeans.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/clustering/hit_remove_duplicates.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/clustering/hit_single_linkage.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_regression.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/Copying.txt creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/index.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/demoicon.gif extracting: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/fortran.png inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/up.png creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/ creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/analysis/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/analysis/hit_holes.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/analysis/index.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/analysis/hit_mse.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/index.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_estimate_cs.html creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/clustering/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/clustering/index.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/clustering/hit_remove_duplicates.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/clustering/hit_find_clusters.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/clustering/hit_kmeans.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/clustering/hit_single_linkage.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_check_inliers.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_pwarx_format_data.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_regression.html creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/plotting/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/plotting/index.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/plotting/hit_plot_clust.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/plotting/hit_plot_idmodes.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/plotting/hit_pwa_plot2d.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/plotting/hit_pwa_plot1d.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/plotting/hit_plot_regions3d.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_attribute_outliers.html creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec/index.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec/hit_prec_PSVC.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec/nobias.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec/svkernel.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec/svc.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec/hit_prec_SVC.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec/svtol.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec/hit_prec_MRLP.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec/psvc.html creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/auxiliary/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/auxiliary/index.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/auxiliary/hit_lscov.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/auxiliary/hit_pwa.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/auxiliary/hit_sample_hypercubes.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/auxiliary/polyreduce_ext.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/auxiliary/hit_sample_rectangles.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/auxiliary/hit_reduce_constraints.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/auxiliary/hit_sample_intervals.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_compute_disc_modes.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_reattribute_suspected.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_create_LDs.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_compute_cont_modes.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_plotpar_check.html creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples/ex_pwarx_1d_3modes.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples/index.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples/ex_estimate_c_s.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples/ex_cake2.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples/ex_pwarx_2d_3modes.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples/ex_pwarx_2d_3modes_bis.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples/ex_pwarx_1d_5modes.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples/ex_approx_1d.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples/ex_cake1.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_error.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/hit_init.html inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/down.png inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/mex.png extracting: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/windows.png extracting: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/linux.png inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/simulinkicon.gif extracting: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hp.png inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/matlabicon.gif inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/m2html.css extracting: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/solaris.png extracting: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/c.png extracting: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/sgi.png inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/right.png extracting: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/alpha.png extracting: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/c++.png inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/left.png inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/HITmanual.pdf inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_check_inliers.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/Bibliography.txt inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_plotpar_check.m creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/plotting/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/plotting/hit_plot_regions3d.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/plotting/hit_plot_idmodes.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/plotting/hit_pwa_plot2d.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/plotting/hit_plot_clust.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/plotting/hit_pwa_plot1d.m creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/pattern_rec/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/pattern_rec/svtol.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/pattern_rec/hit_prec_PSVC.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/pattern_rec/psvc.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/pattern_rec/svkernel.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/pattern_rec/hit_prec_MRLP.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/pattern_rec/svc.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/pattern_rec/nobias.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/pattern_rec/hit_prec_SVC.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_reattribute_suspected.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/Acknowledgments.txt inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_init.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_create_LDs.m creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/auxiliary/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/auxiliary/hit_sample_intervals.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/auxiliary/polyreduce_ext.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/auxiliary/hit_sample_hypercubes.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/auxiliary/hit_pwa.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/auxiliary/hit_sample_rectangles.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/auxiliary/hit_lscov.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/auxiliary/hit_reduce_constraints.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_compute_disc_modes.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_estimate_cs.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_compute_cont_modes.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_attribute_outliers.m creating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples/ inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples/ex_estimate_c_s.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples/ex_pwarx_2d_3modes_bis.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples/ex_pwarx_1d_5modes.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples/ex_cake1.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples/ex_pwarx_2d_3modes.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples/ex_cake2.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples/ex_approx_1d.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples/ex_pwarx_1d_3modes.m inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples/data_PWARX_2d.mat inflating: /home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/hit_error.m
0.0 secs	`cd('mptdistr/mpt/')`
1.0 secs	`hg log -M --style=changelog -r tip:a1c8732c01dc > ChangeLog`
0.1 secs	`mv ChangeLog ..`
1.5 secs	`hg log -M --style=changelog -r tip:MPT_2_0_2 > ChangeLog`
0.0 secs	`cd('/home/mpt/matlab/mpt-utils')`
0.0 secs	`cd('mptdistr/mpt/')`
0.3 secs	`hg tip -v > tip.txt`
0.1 secs	`mv tip.txt ..`
0.0 secs	`cd('/home/mpt/matlab/mpt-utils')`
0.0 secs	`clearing matlab path`
0.0 secs	`adding mpt to matlab path`
	addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/.hg') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/docs') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/auxiliary') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/control/auxiliary') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/demo') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/doc') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/graphics') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/solvers') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/ellipsoids/solvers/gradient') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/ballandplate') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/ccode') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/demos') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/hysdel') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/models') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/nonlin') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/ownmpc') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/reachdemo') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/turbocar') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/watertanks') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/analysis') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/auxiliary') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/control') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/control/hys2pwa') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/control/mldmpc') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/control/optmerge') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/geometry') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/geometry/obsolete') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/graphics') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/gui') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/extras/simulink') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/analysis') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/auxiliary') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/clustering') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/analysis') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/auxiliary') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/clustering') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/examples') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/pattern_rec') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/docs/hit/plotting') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/examples') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/pattern_rec') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/hit/plotting') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/SeDuMi105') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/SeDuMi105/conversion') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/SeDuMi105/doc') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/cddmex') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/clp') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/esp') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/espresso') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/fourier') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/glpkmex') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/hysdel') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/demos') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/extras') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/htmldata') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/modules') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/modules/global') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/modules/moment') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/modules/parametric') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/modules/robust') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/modules/sos') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/operators') addpath('/home/mpt/matlab/mpt-utils/mptdistr/mpt/yalmip/solvers')
0.0 secs	`rehashing path`
	`rehash path rehash toolbox rehash toolboxreset`
0.1 secs	`mpt_version`
	`ans = 2.6.2`
0.0 secs	`mpt_update`
	`Problems connecting to MPT site... Please check for updates manually at http://control.ee.ethz.ch/~mpt/`
2.1 secs	`mpt_init`
	`looking for available solvers... MPT toolbox 2.6.2 initialized... Copyright (C) 2003-2006 by M. Kvasnica, P. Grieder and M. Baotic Send bug reports, questions or comments to mpt@control.ee.ethz.ch For news, visit the MPT web page at http://control.ee.ethz.ch/~mpt/ LP solver: NAG (e04naf) QP solver: NAG MILP solver: GLPK MIQP solver: YALMIP Vertex enumeration: CDD Run 'mpt_studio' to start the GUI. Run 'mpt_setup' to set global parameters.`
0.7 secs	`mpt_init('lpsolver','linprog')`
	looking for available solvers... MPT toolbox 2.6.2 initialized... Copyright (C) 2003-2006 by M. Kvasnica, P. Grieder and M. Baotic Send bug reports, questions or comments to mpt@control.ee.ethz.ch For news, visit the MPT web page at http://control.ee.ethz.ch/~mpt/ WARNING: you have chosen linprog as a default LP solver. This solver is very slow and numerically not robust! We strongly advice you to use some other alternative if possible. LP solver: linprog QP solver: NAG MILP solver: GLPK MIQP solver: YALMIP Vertex enumeration: CDD Run 'mpt_studio' to start the GUI. Run 'mpt_setup' to set global parameters.
0.4 secs	`mpt_init('qpsolver','quadprog')`
	`looking for available solvers... MPT toolbox 2.6.2 initialized... Copyright (C) 2003-2006 by M. Kvasnica, P. Grieder and M. Baotic Send bug reports, questions or comments to mpt@control.ee.ethz.ch For news, visit the MPT web page at http://control.ee.ethz.ch/~mpt/ LP solver: NAG (e04naf) QP solver: quadprog MILP solver: GLPK MIQP solver: YALMIP Vertex enumeration: CDD Run 'mpt_studio' to start the GUI. Run 'mpt_setup' to set global parameters.`
0.4 secs	`mpt_init('extreme_solver','cdd','lpsolver','cdd')`
	`looking for available solvers... MPT toolbox 2.6.2 initialized... Copyright (C) 2003-2006 by M. Kvasnica, P. Grieder and M. Baotic Send bug reports, questions or comments to mpt@control.ee.ethz.ch For news, visit the MPT web page at http://control.ee.ethz.ch/~mpt/ LP solver: CDD Criss-Cross QP solver: NAG MILP solver: GLPK MIQP solver: YALMIP Vertex enumeration: CDD Run 'mpt_studio' to start the GUI. Run 'mpt_setup' to set global parameters.`
0.4 secs	`mpt_init('extreme_solver','matlab')`
	`looking for available solvers... MPT toolbox 2.6.2 initialized... Copyright (C) 2003-2006 by M. Kvasnica, P. Grieder and M. Baotic Send bug reports, questions or comments to mpt@control.ee.ethz.ch For news, visit the MPT web page at http://control.ee.ethz.ch/~mpt/ LP solver: NAG (e04naf) QP solver: NAG MILP solver: GLPK MIQP solver: YALMIP Vertex enumeration: Analytical method Run 'mpt_studio' to start the GUI. Run 'mpt_setup' to set global parameters.`
0.4 secs	`mpt_init('lpsolver','cdd')`
	`looking for available solvers... MPT toolbox 2.6.2 initialized... Copyright (C) 2003-2006 by M. Kvasnica, P. Grieder and M. Baotic Send bug reports, questions or comments to mpt@control.ee.ethz.ch For news, visit the MPT web page at http://control.ee.ethz.ch/~mpt/ LP solver: CDD Criss-Cross QP solver: NAG MILP solver: GLPK MIQP solver: YALMIP Vertex enumeration: CDD Run 'mpt_studio' to start the GUI. Run 'mpt_setup' to set global parameters.`
0.0 secs	`mpt_options('lpsolver','cdd')`
0.0 secs	`mpt_options`
	`LP solver: CDD Criss-Cross QP solver: NAG MILP solver: GLPK MIQP solver: YALMIP Vertex enumeration: CDD Absolute tolerance: 1.0e-07 Relative tolerance: 1.0e-06 Infinity box size: 10000 Step size: 1.0e-05 Debug level: 1 (0/1/2) Level of verbosity: 1 (0/1/2) Level of details: 0 (0/1) Open new figure: no`
0.0 secs	`o = mpt_options, o.solvers`
	o = checkupdates: 0 hysdelpath: '/home/mpt/matlab/mpt-utils/mptdistr/mpt/solvers/hysdel/hysdel.linux' lpsolver: 3 rescueLP: 0 qpsolver: 0 rescueQP: 0 milpsolver: 2 miqpsolver: 1 extreme_solver: 3 abs_tol: 1.0000e-07 rel_tol: 1.0000e-06 step_size: 1.0000e-05 debug_level: 1 infbox: 10000 newfigure: 0 verbose: 1 details: 0 sdpsettings: [1x1 struct] emptypoly: [1x1 polytope] solvers: [1x1 struct] yalmipdata: [1x1 hashtable] version: '2.6.2' ans = lp: [0 9 3] lp_all: [0 9 3] qp: 0 milp: 2 miqp: 1 extreme: [3 4 0 2 1]
0.0 secs	`p = unitbox(2,1);`
0.0 secs	`p = polytope(rand(10,3));`
16.2 secs	`p = polytope(rand(10,3)); plot(p); close all`
	`Plotting...`
0.0 secs	`p = polytope(randn(15,4),rand(15,1));`
4.9 secs	`p = polytope(randn(15,4),rand(15,1)); plot(p); close all`
	`Plotting...`
0.0 secs	`p = [unitbox(2,1) unitbox(2,2)];`
4.9 secs	`p = [unitbox(2,1) unitbox(2,2)]; plot(p); close all`
0.2 secs	`p = polytope(randn(30,6),rand(30,1)); q = projection(p,1:2);`
2.0 secs	`p = polytope(randn(100,12),rand(100,1)); q = projection(p,1:2);`
0.0 secs	`p1 = polytope(randn(10,3),5*rand(10,1)); p2=unitbox(3,0.1); if isbounded(p1), q=p1+p2; end`
0.1 secs	`p1 = polytope(randn(10,3),5*rand(10,1)); p2=unitbox(3,0.1); if isbounded(p1), q=p1+p2; end`
0.0 secs	`p1 = polytope(randn(10,3),rand(10,1)); p2=unitbox(3,0.1); q=p1-p2;`
0.8 secs	`e = getInnerEllipsoid(unitbox(3,1));`
	`Initializing Ellipsoidal Toolbox version 1.1 ...`
0.2 secs	`e = getOutterEllipsoid(unitbox(3,1));`
1.9 secs	`Double_Integrator; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==25);`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions`
1.4 secs	`Double_Integrator; probStruct.y0bounds=0; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==43);`
	`Adding stabilizing target set constraint... Region: 20/31 Region: 40/43 mpt_mpqp: 43 regions -> Generated 1 partition. Solution consists of 43 regions`
2.1 secs	`Double_Integrator; probStruct.N=Inf; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==35);`
	`------------ New Horizon 2 ------------ ------------ New Horizon 3 ------------ ------------ New Horizon 4 ------------ ------------ New Horizon 5 ------------ ------------ New Horizon 6 ------------ ------------ New Horizon 7 ------------ ------------ New Horizon 8 ------------ ------------ New Horizon 9 ------------ ------------ New Horizon 10 ------------ ------------ New Horizon 11 ------------ Solution consists of 35 regions`
3.2 secs	`Double_Integrator; probStruct.N=Inf; probStruct.y0bounds=0; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==69);`
	`------------ New Horizon 2 ------------ ------------ New Horizon 3 ------------ ------------ New Horizon 4 ------------ ------------ New Horizon 5 ------------ ------------ New Horizon 6 ------------ ------------ New Horizon 7 ------------ ------------ New Horizon 8 ------------ ------------ New Horizon 9 ------------ ------------ New Horizon 10 ------------ Region : 60/64 ------------ New Horizon 11 ------------ ------------ New Horizon 12 ------------ Solution consists of 69 regions`
1.9 secs	`Double_Integrator; probStruct.subopt_lev=1; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==51);`
	`WARNING: Prediction horizon "probStruct.N" should be set to Infinity for sub-optimality levels 1! WARNING: Prediction horizon "probStruct.N" should be set to Infinity for sub-optimality levels 1! Iteration 1 Iteration 2 Iteration 3 Iteration 4 Iteration 5 Iteration 6 Iteration 7 Iteration 8 Iteration 9 Iteration 10 Iteration 11 Solution consists of 51 regions`
1.2 secs	`Double_Integrator; probStruct.subopt_lev=2; probStruct.N=1; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==3);`
	Iteration 1 mpt_mpqp: 3 regions Calculating PWQ Lyapunov function... Computing transition map... mpt_getPWQLyapFct: Found 7 feasible transitions. Solving LMI Problem mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: Computing lower bound on Lyapunov function... mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: verifying positivity of function... mpt_getPWQLyapFct: verifying decay rate of function... mpt_getPWQLyapFct: Verification showed that function is Lyapunov. mpt_getPWQLyapFct: SUCCESS: Found Piecewise Quadratic Lyapunov function. Lyapunov function found, controller is stabilizing Solution consists of 3 regions
4.8 secs	`Double_Integrator; probStruct.norm=1; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==110);`
	`No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 110 regions`
3.3 secs	`Double_Integrator; probStruct.norm=Inf; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==84);`
	`No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 84 regions`
0.7 secs	`Double_Integrator_addU; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==29);`
	`Region: 20/26 mpt_mpqp: 29 regions Solution consists of 29 regions`
0.4 secs	`Double_Integrator_parU; probStruct.N=1; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==13);`
	`mpt_mpqp: 13 regions Solution consists of 13 regions`
0.9 secs	`Double_Integrator_parU; probStruct.N=5; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==15);`
	`mpt_mpqp: 15 regions Solution consists of 15 regions`
0.7 secs	`ThirdOrder; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==3);`
	`Adding stabilizing target set constraint... mpt_mpqp: 3 regions -> Generated 1 partition. Solution consists of 3 regions`
1.4 secs	`ThirdOrder; probStruct.y0bounds=0; probStruct.N=Inf; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==35);`
	`------------ New Horizon 2 ------------ Region : 20/34 ------------ New Horizon 3 ------------ Solution consists of 35 regions`
62.9 secs	`ThirdOrder; probStruct.y0bounds=0; probStruct.norm=1; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==746);`
	`No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 746 regions`
0.7 secs	`FourthOrder; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==1);`
	`Adding stabilizing target set constraint... mpt_mpqp: 1 regions -> Generated 1 partition. Solution consists of 1 regions`
8.3 secs	`pwa_sincos; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==98);`
	origin included in: 1 2 Computing target set Iteration Number 1 Iteration Number 2 Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 46 hulls to be explored Generating regions dynamics 1, hull 1/23 dynamics 1, hull 8/23 dynamics 1, hull 16/23 dynamics 1, hull 23/23 dynamics 2, hull 1/23 dynamics 2, hull 8/23 dynamics 2, hull 16/23 dynamics 2, hull 23/23 164 regions generated Removing unused regions (backwards)... dynamics 1, hull 23/23 dynamics 1, hull 16/23 dynamics 1, hull 8/23 dynamics 1, hull 1/23 dynamics 2, hull 23/23 dynamics 2, hull 16/23 dynamics 2, hull 8/23 dynamics 2, hull 1/23 Solution consists of 98 regions
22.9 secs	`pwa2d; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==157);`
	origin included in: 1 Computing target set Iteration Number 1 Iteration Number 2 mpt_iterativePWA: union of terminal sets is convex, merging... Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 new horizon: 8 new horizon: 9 new horizon: 10 new horizon: 11 new horizon: 12 new horizon: 13 new horizon: 14 102 hulls to be explored Generating regions dynamics 1, hull 1/65 dynamics 1, hull 22/65 dynamics 1, hull 44/65 dynamics 1, hull 65/65 dynamics 2, hull 1/37 dynamics 2, hull 12/37 dynamics 2, hull 24/37 dynamics 2, hull 36/37 dynamics 2, hull 37/37 363 regions generated Removing unused regions (backwards)... dynamics 1, hull 65/65 dynamics 1, hull 44/65 dynamics 1, hull 22/65 dynamics 1, hull 1/65 dynamics 2, hull 37/37 dynamics 2, hull 36/37 dynamics 2, hull 24/37 dynamics 2, hull 12/37 dynamics 2, hull 1/37 Solution consists of 157 regions
157.9 secs	`pwa_car; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==1050);`
	origin included in: 1 Computing target set Iteration Number 1 Iteration Number 2 mpt_iterativePWA: union of terminal sets is convex, merging... Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 new horizon: 8 new horizon: 9 new horizon: 10 new horizon: 11 new horizon: 12 new horizon: 13 new horizon: 14 new horizon: 15 new horizon: 16 new horizon: 17 new horizon: 18 new horizon: 19 new horizon: 20 new horizon: 21 new horizon: 22 new horizon: 23 new horizon: 24 new horizon: 25 new horizon: 26 new horizon: 27 new horizon: 28 new horizon: 29 new horizon: 30 387 hulls to be explored Generating regions dynamics 1, hull 1/21 dynamics 1, hull 7/21 dynamics 1, hull 14/21 dynamics 1, hull 21/21 dynamics 2, hull 1/109 dynamics 2, hull 36/109 dynamics 2, hull 72/109 dynamics 2, hull 108/109 dynamics 2, hull 109/109 dynamics 3, hull 1/136 dynamics 3, hull 45/136 dynamics 3, hull 90/136 dynamics 3, hull 135/136 dynamics 3, hull 136/136 dynamics 4, hull 1/121 dynamics 4, hull 40/121 dynamics 4, hull 80/121 dynamics 4, hull 120/121 dynamics 4, hull 121/121 1840 regions generated Removing unused regions (backwards)... dynamics 1, hull 21/21 dynamics 1, hull 14/21 dynamics 1, hull 7/21 dynamics 1, hull 1/21 dynamics 2, hull 109/109 dynamics 2, hull 108/109 dynamics 2, hull 72/109 dynamics 2, hull 36/109 dynamics 2, hull 1/109 dynamics 3, hull 136/136 dynamics 3, hull 135/136 dynamics 3, hull 90/136 dynamics 3, hull 45/136 dynamics 3, hull 1/136 dynamics 4, hull 121/121 dynamics 4, hull 120/121 dynamics 4, hull 80/121 dynamics 4, hull 40/121 dynamics 4, hull 1/121 Solution consists of 1050 regions
221.0 secs	`pwa3d; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==522);`
	origin included in: 1 Computing target set Iteration Number 1 Iteration Number 2 Iteration Number 3 Iteration Number 4 mpt_iterativePWA: union of terminal sets is convex, merging... Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 new horizon: 8 new horizon: 9 new horizon: 10 new horizon: 11 new horizon: 12 new horizon: 13 new horizon: 14 182 hulls to be explored Generating regions dynamics 1, hull 1/97 dynamics 1, hull 32/97 dynamics 1, hull 64/97 dynamics 1, hull 96/97 dynamics 1, hull 97/97 dynamics 2, hull 1/85 dynamics 2, hull 28/85 dynamics 2, hull 56/85 dynamics 2, hull 84/85 dynamics 2, hull 85/85 1204 regions generated Removing unused regions (backwards)... dynamics 1, hull 97/97 dynamics 1, hull 96/97 dynamics 1, hull 64/97 dynamics 1, hull 32/97 dynamics 1, hull 1/97 dynamics 2, hull 85/85 dynamics 2, hull 84/85 dynamics 2, hull 56/85 dynamics 2, hull 28/85 dynamics 2, hull 1/85 Solution consists of 522 regions
10.6 secs	`pwa_sincos; probStruct.norm=1; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==122);`
	origin included in: 1 2 Computing target set Iteration Number 1 Iteration Number 2 Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 46 hulls to be explored Generating regions dynamics 1, hull 1/23 dynamics 1, hull 8/23 dynamics 1, hull 16/23 dynamics 1, hull 23/23 dynamics 2, hull 1/23 dynamics 2, hull 8/23 dynamics 2, hull 16/23 dynamics 2, hull 23/23 218 regions generated Removing unused regions (backwards)... dynamics 1, hull 23/23 dynamics 1, hull 16/23 dynamics 1, hull 8/23 dynamics 1, hull 1/23 dynamics 2, hull 23/23 dynamics 2, hull 16/23 dynamics 2, hull 8/23 dynamics 2, hull 1/23 Solution consists of 122 regions
44.9 secs	`pwa2d; probStruct.norm=1; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==224);`
	origin included in: 1 Computing target set Iteration Number 1 Iteration Number 2 mpt_iterativePWA: union of terminal sets is convex, merging... Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 new horizon: 8 new horizon: 9 new horizon: 10 new horizon: 11 new horizon: 12 new horizon: 13 new horizon: 14 102 hulls to be explored Generating regions dynamics 1, hull 1/65 dynamics 1, hull 22/65 dynamics 1, hull 44/65 dynamics 1, hull 65/65 dynamics 2, hull 1/37 dynamics 2, hull 12/37 dynamics 2, hull 24/37 dynamics 2, hull 36/37 dynamics 2, hull 37/37 1101 regions generated Removing unused regions (backwards)... dynamics 1, hull 65/65 dynamics 1, hull 44/65 dynamics 1, hull 22/65 dynamics 1, hull 1/65 dynamics 2, hull 37/37 dynamics 2, hull 36/37 dynamics 2, hull 24/37 dynamics 2, hull 12/37 dynamics 2, hull 1/37 Solution consists of 224 regions
10.8 secs	`pwa_sincos; probStruct.norm=Inf; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==160);`
	origin included in: 1 2 Computing target set Iteration Number 1 Iteration Number 2 Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 46 hulls to be explored Generating regions dynamics 1, hull 1/23 dynamics 1, hull 8/23 dynamics 1, hull 16/23 dynamics 1, hull 23/23 dynamics 2, hull 1/23 dynamics 2, hull 8/23 dynamics 2, hull 16/23 dynamics 2, hull 23/23 252 regions generated Removing unused regions (backwards)... dynamics 1, hull 23/23 dynamics 1, hull 16/23 dynamics 1, hull 8/23 dynamics 1, hull 1/23 dynamics 2, hull 23/23 dynamics 2, hull 16/23 dynamics 2, hull 8/23 dynamics 2, hull 1/23 Solution consists of 160 regions
47.1 secs	`pwa2d; probStruct.norm=Inf; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==279);`
	origin included in: 1 Computing target set Iteration Number 1 Iteration Number 2 mpt_iterativePWA: union of terminal sets is convex, merging... Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 new horizon: 8 new horizon: 9 new horizon: 10 new horizon: 11 new horizon: 12 new horizon: 13 new horizon: 14 102 hulls to be explored Generating regions dynamics 1, hull 1/65 dynamics 1, hull 22/65 dynamics 1, hull 44/65 dynamics 1, hull 65/65 dynamics 2, hull 1/37 dynamics 2, hull 12/37 dynamics 2, hull 24/37 dynamics 2, hull 36/37 dynamics 2, hull 37/37 1219 regions generated Removing unused regions (backwards)... dynamics 1, hull 65/65 dynamics 1, hull 44/65 dynamics 1, hull 22/65 dynamics 1, hull 1/65 dynamics 2, hull 37/37 dynamics 2, hull 36/37 dynamics 2, hull 24/37 dynamics 2, hull 12/37 dynamics 2, hull 1/37 Solution consists of 279 regions
6.9 secs	`pwa_sincos; probStruct.norm=Inf; probStruct.subopt_lev=2; probStruct.N=1; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==16 \| length(cs)==34);`
	origin included in: 1 2 Computing target set Iteration Number 1 Iteration Number 2 Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 Solving one step problem... Removing overlaps... hull 1/2 hull 2/2 16 regions generated Computing PWQ Lyapunov function... In PWA case, each dynamics has to be associated with exactly one region! Linking dynamics to regions... Computing transition map... mpt_getPWQLyapFct: Found 52 feasible transitions. Solving LMI Problem mpt_getPWQLyapFct: LMI solver found feasible solution. mpt_getPWQLyapFct: Computing lower bound on Lyapunov function... mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: verifying positivity of function... mpt_getPWQLyapFct: verifying decay rate of function... mpt_getPWQLyapFct: Verification showed that function is Lyapunov. mpt_getPWQLyapFct: SUCCESS: Found Piecewise Quadratic Lyapunov function. Lyapunov function found, system is stable Solution consists of 16 regions
11.1 secs	`pwa2d; probStruct.norm=1; probStruct.subopt_lev=2; probStruct.N=1; cs=mpt_control(sysStruct, probStruct);`
	origin included in: 1 Computing target set Iteration Number 1 Iteration Number 2 mpt_iterativePWA: union of terminal sets is convex, merging... Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 new horizon: 8 new horizon: 9 new horizon: 10 new horizon: 11 Solving one step problem... Removing overlaps... hull 1/2 hull 2/2 22 regions generated Computing PWQ Lyapunov function... In PWA case, each dynamics has to be associated with exactly one region! Linking dynamics to regions... Computing transition map... mpt_getPWQLyapFct: Found 71 feasible transitions. Solving LMI Problem mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: Computing lower bound on Lyapunov function... mpt_getPWQLyapFct: LMI solver found feasible solution. mpt_getPWQLyapFct: verifying positivity of function... mpt_getPWQLyapFct: verifying decay rate of function... mpt_getPWQLyapFct: SUCCESS: Found Piecewise Quadratic Lyapunov function. Lyapunov function found, system is stable Solution consists of 22 regions
15.6 secs	`pwa2d; cs=mpt_control(sysStruct, probStruct, struct('iterative',1)); mpt_assert(length(cs)==99);`
	origin included in: 1 Computing target set Iteration Number 1 Iteration Number 2 mpt_iterativePWA: union of terminal sets is convex, merging... Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 new horizon: 8 new horizon: 9 new horizon: 10 new horizon: 11 44 hulls to be explored Generating regions dynamics 1, hull 1/35 dynamics 1, hull 12/35 dynamics 1, hull 24/35 dynamics 1, hull 35/35 dynamics 2, hull 1/9 dynamics 2, hull 3/9 dynamics 2, hull 6/9 dynamics 2, hull 9/9 170 regions generated Removing unused regions (backwards)... dynamics 1, hull 35/35 dynamics 1, hull 24/35 dynamics 1, hull 12/35 dynamics 1, hull 1/35 dynamics 2, hull 9/9 dynamics 2, hull 6/9 dynamics 2, hull 3/9 dynamics 2, hull 1/9 Solution consists of 99 regions
9.4 secs	`pwa_sincos; cs=mpt_control(sysStruct, probStruct, struct('iterative',1)); mpt_assert(length(cs)==98);`
	origin included in: 1 2 Computing target set Iteration Number 1 Iteration Number 2 Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 46 hulls to be explored Generating regions dynamics 1, hull 1/23 dynamics 1, hull 8/23 dynamics 1, hull 16/23 dynamics 1, hull 23/23 dynamics 2, hull 1/23 dynamics 2, hull 8/23 dynamics 2, hull 16/23 dynamics 2, hull 23/23 142 regions generated Removing unused regions (backwards)... dynamics 1, hull 23/23 dynamics 1, hull 16/23 dynamics 1, hull 8/23 dynamics 1, hull 1/23 dynamics 2, hull 23/23 dynamics 2, hull 16/23 dynamics 2, hull 8/23 dynamics 2, hull 1/23 Solution consists of 98 regions
24.7 secs	`pwa_DI_addU; cs=mpt_control(sysStruct, probStruct);`
	origin included in: 1 2 3 4 Computing target set Iteration Number 1 Iteration Number 2 Generating feasible set new horizon: 1 exploring 1 target sets in this iteration new horizon: 2 exploring 5 target sets in this iteration new horizon: 3 exploring 9 target sets in this iteration new horizon: 4 exploring 10 target sets in this iteration new horizon: 5 exploring 10 target sets in this iteration new horizon: 6 exploring 7 target sets in this iteration new horizon: 7 exploring 6 target sets in this iteration new horizon: 8 exploring 1 target sets in this iteration new horizon: 9 exploring 1 target sets in this iteration new horizon: 10 exploring 1 target sets in this iteration new horizon: 11 exploring 1 target sets in this iteration new horizon: 12 exploring 1 target sets in this iteration new horizon: 13 exploring 1 target sets in this iteration new horizon: 14 exploring 1 target sets in this iteration new horizon: 15 exploring 1 target sets in this iteration new horizon: 16 exploring 1 target sets in this iteration new horizon: 17 exploring 1 target sets in this iteration 118 hulls to be explored Generating regions dynamics 1, hull 1/32 dynamics 1, hull 11/32 dynamics 1, hull 22/32 dynamics 1, hull 32/32 dynamics 2, hull 1/29 dynamics 2, hull 10/29 dynamics 2, hull 20/29 dynamics 2, hull 29/29 dynamics 3, hull 1/29 dynamics 3, hull 10/29 dynamics 3, hull 20/29 dynamics 3, hull 29/29 dynamics 4, hull 1/28 dynamics 4, hull 9/28 dynamics 4, hull 18/28 dynamics 4, hull 27/28 dynamics 4, hull 28/28 267 regions generated Removing unused regions (backwards)... dynamics 1, hull 32/32 dynamics 1, hull 22/32 dynamics 1, hull 11/32 dynamics 1, hull 1/32 dynamics 2, hull 29/29 dynamics 2, hull 20/29 dynamics 2, hull 10/29 dynamics 2, hull 1/29 dynamics 3, hull 29/29 dynamics 3, hull 20/29 dynamics 3, hull 10/29 dynamics 3, hull 1/29 dynamics 4, hull 28/28 dynamics 4, hull 27/28 dynamics 4, hull 18/28 dynamics 4, hull 9/28 dynamics 4, hull 1/28 Solution consists of 215 regions
26.9 secs	`pwa2d_addU; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)>250 & length(cs)<272);`
	origin included in: 1 Computing target set Iteration Number 1 Iteration Number 2 mpt_iterativePWA: union of terminal sets is convex, merging... Generating feasible set new horizon: 1 exploring 1 target sets in this iteration new horizon: 2 exploring 2 target sets in this iteration new horizon: 3 exploring 6 target sets in this iteration new horizon: 4 exploring 5 target sets in this iteration new horizon: 5 exploring 8 target sets in this iteration new horizon: 6 exploring 9 target sets in this iteration new horizon: 7 exploring 10 target sets in this iteration new horizon: 8 exploring 10 target sets in this iteration new horizon: 9 exploring 11 target sets in this iteration new horizon: 10 exploring 12 target sets in this iteration new horizon: 11 exploring 9 target sets in this iteration new horizon: 12 exploring 8 target sets in this iteration new horizon: 13 exploring 7 target sets in this iteration new horizon: 14 exploring 4 target sets in this iteration new horizon: 15 exploring 1 target sets in this iteration 113 hulls to be explored Generating regions dynamics 1, hull 1/89 dynamics 1, hull 30/89 dynamics 1, hull 60/89 dynamics 1, hull 89/89 dynamics 2, hull 1/24 dynamics 2, hull 8/24 dynamics 2, hull 16/24 dynamics 2, hull 24/24 323 regions generated Removing unused regions (backwards)... dynamics 1, hull 89/89 dynamics 1, hull 60/89 dynamics 1, hull 30/89 dynamics 1, hull 1/89 dynamics 2, hull 24/24 dynamics 2, hull 16/24 dynamics 2, hull 8/24 dynamics 2, hull 1/24 Solution consists of 267 regions
76.0 secs	`opt_sincos; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==252);`
	Generating the "core" ---Iteration 1--- exploring dynamics 1 exploring dynamics 2 Removed 5 duplicate regions Removed 5 duplicate regions Regions: 10 ---Iteration 2--- exploring dynamics 1 exploring dynamics 2 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Regions: 19 ---Iteration 3--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Regions: 49 ---Iteration 4--- exploring dynamics 1 exploring dynamics 2 Removed 4 duplicate regions Removing overlaps... hull 1/16 hull 5/16 hull 10/16 hull 15/16 hull 16/16 Removed 4 duplicate regions Removing overlaps... hull 1/16 hull 5/16 hull 10/16 hull 15/16 hull 16/16 Regions: 80 ---Iteration 5--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Regions: 30 Core has at least 6 regions but we did not yet fully converge ---Iteration 6--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/10 hull 3/10 hull 6/10 hull 9/10 hull 10/10 Removed 3 duplicate regions Removing overlaps... hull 1/10 hull 3/10 hull 6/10 hull 9/10 hull 10/10 Regions: 30 Core consists of 10 regions Exploring the state-space ---Iteration 1--- exploring dynamics 1 exploring dynamics 2 Removed 8 duplicate regions Removing overlaps... hull 1/11 hull 4/11 hull 8/11 hull 11/11 Removed 8 duplicate regions Removing overlaps... hull 1/11 hull 4/11 hull 8/11 hull 11/11 Regions: 30 Core: 10 regions Ring: 20 regions ---Iteration 2--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/17 hull 6/17 hull 12/17 hull 17/17 Removed 3 duplicate regions Removing overlaps... hull 1/17 hull 6/17 hull 12/17 hull 17/17 Regions: 70 Core: 24 regions Ring: 46 regions ---Iteration 3--- exploring dynamics 1 exploring dynamics 2 Removed 6 duplicate regions Removing overlaps... hull 1/29 hull 10/29 hull 20/29 hull 29/29 Removed 6 duplicate regions Removing overlaps... hull 1/29 hull 10/29 hull 20/29 hull 29/29 Regions: 124 Core: 58 regions Ring: 66 regions ---Iteration 4--- exploring dynamics 1 exploring dynamics 2 Removed 8 duplicate regions Removing overlaps... hull 1/35 hull 12/35 hull 24/35 hull 35/35 Removed 8 duplicate regions Removing overlaps... hull 1/35 hull 12/35 hull 24/35 hull 35/35 Regions: 188 Core: 104 regions Ring: 84 regions ---Iteration 5--- exploring dynamics 1 exploring dynamics 2 Removed 4 duplicate regions Removing overlaps... hull 1/45 hull 15/45 hull 30/45 hull 45/45 Removed 4 duplicate regions Removing overlaps... hull 1/45 hull 15/45 hull 30/45 hull 45/45 Regions: 242 Core: 162 regions Ring: 80 regions ---Iteration 6--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/23 hull 8/23 hull 16/23 hull 23/23 Removed 3 duplicate regions Removing overlaps... hull 1/23 hull 8/23 hull 16/23 hull 23/23 Regions: 252 Core: 218 regions Ring: 34 regions ---Iteration 7--- exploring dynamics 1 exploring dynamics 2 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Regions: 252 Core: 246 regions Ring: 6 regions ---Iteration 8--- exploring dynamics 1 exploring dynamics 2 Regions: 252 Core: 252 regions Ring: 0 regions Algorithm finished after 8 iterations Solution consists of 252 regions
8.5 secs	`two_tanks; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==78 \| length(cs)==81 \| length(cs)==80);`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. --- Step 1 (out of 3) --- mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions -> Generated 2 partitions. Generated 4 regions --- Step 2 (out of 3) --- mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 5 regions mpt_mplp: 3 regions mpt_mplp: 6 regions mpt_mplp: 7 regions mpt_mplp: 4 regions -> Generated 4 partitions. Generated 21 regions --- Step 3 (out of 3) --- mpt_mplp: 6 regions mpt_mplp: 7 regions mpt_mplp: 5 regions mpt_mplp: 4 regions mpt_mplp: 9 regions mpt_mplp: 12 regions mpt_mplp: 5 regions mpt_mplp: 10 regions mpt_mplp: 5 regions mpt_mplp: 8 regions mpt_mplp: 10 regions mpt_mplp: 6 regions mpt_mplp: 12 regions mpt_mplp: 5 regions -> Generated 13 partitions. Generated 99 regions Removing overlaps... hull 1/13 hull 4/13 hull 8/13 hull 12/13 hull 13/13 Solution consists of 78 regions
3.7 secs	`opt_sincos; probStruct.N=4; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==52);`
	Noise polytope empty. * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 * Step 3, targets partitions: 2, regions in the previous step 0 dynamic 1 dynamic 2 * Step 2, targets partitions: 4, regions in the previous step 0 dynamic 1 dynamic 2 * Step 1, targets partitions: 6, regions in the previous step 0 dynamic 1 Removed 1 duplicate regions Removing overlaps... hull 1/3 hull 2/3 hull 3/3 dynamic 2 Removed 1 duplicate regions Removing overlaps... hull 1/3 hull 2/3 hull 3/3 Solution consists of 52 regions
14.7 secs	`opt_sincos; probStruct.N=4; cs=mpt_control(sysStruct, probStruct, struct('mplpver',3)); mpt_assert(length(cs)==52 \| length(cs)==62);`
	WARNING: older version of mpLP solver specified, switching to different algorithm... --- Step 1 (Horizon 4) --- exploring dynamics 1 exploring dynamics 2 10 regions in 2 feasible transitions Regions: 10 --- Step 2 (Horizon 3) --- exploring dynamics 1 exploring dynamics 2 36 regions in 12 feasible transitions Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Regions: 16 --- Step 3 (Horizon 2) --- exploring dynamics 1 exploring dynamics 2 76 regions in 24 feasible transitions Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Regions: 26 --- Step 4 (Horizon 1) --- exploring dynamics 1 exploring dynamics 2 184 regions in 52 feasible transitions Removed 6 duplicate regions Removing overlaps... hull 1/26 hull 9/26 hull 18/26 hull 26/26 Removed 6 duplicate regions Removing overlaps... hull 1/26 hull 9/26 hull 18/26 hull 26/26 Regions: 52 Solution consists of 52 regions
3.7 secs	`opt_sincos; probStruct.N=4; cs=mpt_control(sysStruct, probStruct, struct('mplpver',4)); mpt_assert(length(cs)==52);`
	Noise polytope empty. * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 * Step 3, targets partitions: 2, regions in the previous step 0 dynamic 1 dynamic 2 * Step 2, targets partitions: 4, regions in the previous step 0 dynamic 1 dynamic 2 * Step 1, targets partitions: 6, regions in the previous step 0 dynamic 1 Removed 1 duplicate regions Removing overlaps... hull 1/3 hull 2/3 hull 3/3 dynamic 2 Removed 1 duplicate regions Removing overlaps... hull 1/3 hull 2/3 hull 3/3 Solution consists of 52 regions
149.4 secs	`opt_sincos; probStruct.N=11; cs=mpt_control(sysStruct, probStruct); mpt_assert(length(cs)==252);`
	Noise polytope empty. * Step 11, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 * Step 10, targets partitions: 2, regions in the previous step 0 dynamic 1 dynamic 2 * Step 9, targets partitions: 4, regions in the previous step 0 dynamic 1 dynamic 2 * Step 8, targets partitions: 6, regions in the previous step 0 dynamic 1 dynamic 2 * Step 7, targets partitions: 6, regions in the previous step 0 dynamic 1 dynamic 2 * Step 6, targets partitions: 8, regions in the previous step 0 dynamic 1 dynamic 2 * Step 5, targets partitions: 12, regions in the previous step 0 dynamic 1 dynamic 2 * Step 4, targets partitions: 22, regions in the previous step 0 dynamic 1 dynamic 2 * Step 3, targets partitions: 31, regions in the previous step 0 dynamic 1 dynamic 2 * Step 2, targets partitions: 42, regions in the previous step 0 dynamic 1 dynamic 2 *** Step 1, targets partitions: 48, regions in the previous step 0 dynamic 1 Removed 365 duplicate regions Removing overlaps... hull 1/13 hull 4/13 hull 8/13 hull 12/13 hull 13/13 dynamic 2 Removed 314 duplicate regions Removing overlaps... hull 1/14 hull 5/14 hull 10/14 hull 14/14 Solution consists of 252 regions
6.6 secs	`Double_Integrator; cs=mpt_control(sysStruct, probStruct); mpt_plotPartition(cs); close all`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions`
7.1 secs	`Double_Integrator; cs=mpt_control(sysStruct, probStruct); mpt_plotJ(cs); close all`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions Creating PWQ plot...`
9.9 secs	`Double_Integrator; probStruct.norm=1; cs=mpt_control(sysStruct, probStruct); mpt_plotJ(cs); close all`
	`No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 110 regions`
3.7 secs	`Double_Integrator; cs=mpt_control(sysStruct, probStruct); mpt_plotU(cs); close all`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions Plotting value of control moves...`
4.4 secs	`Double_Integrator; cs=mpt_control(sysStruct, probStruct); simplot(cs,[2;2]); close all`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions`
4.0 secs	`ThirdOrder; cs=mpt_control(sysStruct, probStruct); simplot(cs,[2;2;2]); close all`
	`Adding stabilizing target set constraint... mpt_mpqp: 3 regions -> Generated 1 partition. Solution consists of 3 regions`
1.2 secs	`Double_Integrator; cs=mpt_control(sysStruct, probStruct); P=mpt_delaunay(cs.Pfinal);`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions mpt_mplp: 6 regions`
9.0 secs	`Double_Integrator; probStruct.norm=1; cs=mpt_control(sysStruct, probStruct); css=mpt_simplify(cs);`
	No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 110 regions 110 regions with 15 different control laws control law # 1, 1 region --> 1 region control law # 2, 43 regions --> 15 regions control law # 3, 6 regions --> 6 regions control law # 4, 1 region --> 1 region control law # 5, 4 regions --> 2 regions control law # 6, 1 region --> 1 region control law # 7, 1 region --> 1 region control law # 8, 1 region --> 1 region control law # 9, 4 regions --> 2 regions control law # 10, 43 regions --> 17 regions control law # 11, 1 region --> 1 region control law # 12, 1 region --> 1 region control law # 13, 1 region --> 1 region control law # 14, 1 region --> 1 region control law # 15, 1 region --> 1 region controller partition reduced to 52 regions
14.1 secs	`Double_Integrator; probStruct.norm=1; cs=mpt_control(sysStruct, probStruct); css=mpt_simplify(cs,struct('merging','optimal'));`
	No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 110 regions 110 regions with 15 different control laws collect all facets ... found 92 different hyperplanes collect information about relative position of facets derive markings of hyperplane arrangement with 38 hyperplanes ... removed 0 polyhedra from hyperplane arrangement with radii below 1.00e-05 or undeterminable color remove hyperplanes bounding the domain ==> hyperplane arrangement contains 36 hyperplanes and 386 markings total computation time: 8.86 s # regions of original PWA model: 110 # regions after extension of hyperplanes: 386 # regions after merging: 28 --> reduction by 82 regions or 74.55 percent controller partition reduced to 28 regions
9.0 secs	`Double_Integrator; probStruct.norm=1; cs=mpt_control(sysStruct, probStruct); css=mpt_simplify(cs,struct('merging','greedy'));`
	No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 110 regions 110 regions with 15 different control laws control law # 1, 1 region --> 1 region control law # 2, 43 regions --> 13 regions control law # 3, 6 regions --> 6 regions control law # 4, 1 region --> 1 region control law # 5, 4 regions --> 2 regions control law # 6, 1 region --> 1 region control law # 7, 1 region --> 1 region control law # 8, 1 region --> 1 region control law # 9, 4 regions --> 2 regions control law # 10, 43 regions --> 15 regions control law # 11, 1 region --> 1 region control law # 12, 1 region --> 1 region control law # 13, 1 region --> 1 region control law # 14, 1 region --> 1 region control law # 15, 1 region --> 1 region controller partition reduced to 48 regions
5.3 secs	`P=mpt_voronoi(rand(10,2),struct('plot',1)); close all`
0.2 secs	`P=mpt_voronoi(rand(10,3));`
2.5 secs	`matotest; probStruct.Tset=unitbox(2,1); ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==36);`
	WARNING: Terminal set provided, you should set "probStruct.Tconstraint=2" to enforce it... Using User-Defined Target Set... Warning: this may not guarantee stability Warning: setting probStruct.P_N to stage cost. mpt_iterativePWA: union of terminal sets is convex, merging... Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 12 hulls to be explored Generating regions dynamics 1, hull 1/6 dynamics 1, hull 2/6 dynamics 1, hull 4/6 mpt_mpqp: Degeneracy mpt_mpqp: Degeneracy dynamics 1, hull 6/6 dynamics 2, hull 1/6 dynamics 2, hull 2/6 dynamics 2, hull 4/6 mpt_mpqp: Degeneracy dynamics 2, hull 6/6 48 regions generated Removing unused regions (backwards)... dynamics 1, hull 6/6 dynamics 1, hull 4/6 dynamics 1, hull 2/6 dynamics 1, hull 1/6 dynamics 2, hull 6/6 dynamics 2, hull 4/6 dynamics 2, hull 2/6 dynamics 2, hull 1/6 Solution consists of 36 regions
9.1 secs	`Double_Integrator; probStruct.tracking=1; ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==375 \| length(ec)==175);`
	`Region: 20/72 Region: 40/111 Region: 60/131 Region: 80/147 Region: 100/166 Region: 120/175 Region: 140/175 Region: 160/175 mpt_mpqp: 175 regions -> Generated 1 partition. Solution consists of 175 regions`
17.1 secs	`Double_Integrator; probStruct.tracking=1; probStruct.norm=1; probStruct.N=3; ec=mpt_control(sysStruct, probStruct);`
	`No terminal cost defined. Using the default. Noise polytope empty. * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 270 regions`
5.4 secs	`Double_Integrator; probStruct.tracking=2; ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==269 \| length(ec)==125);`
	`================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ Region: 20/58 Region: 40/83 Region: 60/104 Region: 80/124 Region: 100/125 Region: 120/125 mpt_mpqp: 125 regions -> Generated 1 partition. Solution consists of 125 regions`
10.1 secs	`Double_Integrator; probStruct.tracking=2; probStruct.norm=1; probStruct.N=3; ec=mpt_control(sysStruct, probStruct);`
	=============================================================================== WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! =============================================================================== No terminal cost defined. Using the default. Noise polytope empty. * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 238 regions
4.8 secs	`Double_Integrator; sysStruct.C=[1 0]; sysStruct.D=0; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.Qy=1; probStruct.tracking=1; ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==197 \| length(ec)==117);`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. Region: 20/64 Region: 40/88 Region: 60/97 Region: 80/114 Region: 100/117 mpt_mpqp: 117 regions -> Generated 1 partition. Solution consists of 117 regions`
7.7 secs	`Double_Integrator; sysStruct.C=[1 0]; sysStruct.D=0; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.Qy=1; probStruct.tracking=1; probStruct.norm=1; ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==142);`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 142 regions
3.4 secs	`Double_Integrator; sysStruct.C=[1 0]; sysStruct.D=0; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.Qy=1; probStruct.tracking=2; ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==163 \| length(ec)==95);`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. ================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ Region: 20/46 Region: 40/73 Region: 60/91 Region: 80/95 mpt_mpqp: 95 regions -> Generated 1 partition. Solution consists of 95 regions`
5.9 secs	`Double_Integrator; sysStruct.C=[1 0]; sysStruct.D=0; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.Qy=1; probStruct.tracking=2; probStruct.norm=1; ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==122);`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. =============================================================================== WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! =============================================================================== No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 122 regions
4.8 secs	`pwa_DI; probStruct.tracking=1; probStruct.N=1; probStruct.norm=1; probStruct.subopt_lev=0; probStruct.P_N=eye(2); ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==112);`
	`Noise polytope empty. *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 Solution consists of 112 regions`
34.0 secs	`pwa_DI; probStruct.tracking=2; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; probStruct.P_N=eye(2); ec=mpt_control(sysStruct, probStruct);`
	=============================================================================== WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! =============================================================================== Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 405 regions
9.5 secs	`pwa_DI; sysStruct.C={[1 0],[1 0],[1 0],[1 0]}; sysStruct.D={0,0,0,0}; sysStruct.g={0,0,0,0}; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.tracking=1; probStruct.Qy=2; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; probStruct.P_N=1; ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==80);`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 80 regions
9.5 secs	`pwa_DI; sysStruct.C={[1 0],[1 0],[1 0],[1 0]}; sysStruct.D={0,0,0,0}; sysStruct.g={0,0,0,0}; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.tracking=1; probStruct.Qy=2; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; probStruct.P_N=1; ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==80);`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 80 regions
3.0 secs	`two_tanks; probStruct.tracking=2; probStruct=rmfield(probStruct, 'yref'); probStruct.P_N=100; probStruct.N=2; ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==36);`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. ================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ --- Step 1 (out of 2) --- mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions -> Generated 2 partitions. Generated 4 regions --- Step 2 (out of 2) --- mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 7 regions mpt_mplp: 3 regions mpt_mplp: 6 regions mpt_mplp: 9 regions mpt_mplp: 6 regions -> Generated 4 partitions. Generated 25 regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 36 regions
5.7 secs	`two_tanks; probStruct.tracking=2; sysStruct.Uset{1}=[0 0.5 1]; probStruct=rmfield(probStruct, 'yref'); probStruct.P_N=0; probStruct.N=2; ec=mpt_control(sysStruct, probStruct); mpt_assert(length(ec)==55 \| length(ec)==53);`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. ================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ --- Step 1 (out of 2) --- mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 2 regions -> Generated 2 partitions. Generated 4 regions --- Step 2 (out of 2) --- mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 4 regions mpt_mplp: 4 regions mpt_mplp: 4 regions mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 3 regions Binary node 20/24 mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 3 regions -> Generated 11 partitions. Generated 35 regions Removing overlaps... hull 1/11 hull 4/11 hull 8/11 hull 11/11 Solution consists of 55 regions
10.6 secs	`Double_Integrator; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; ec=mpt_control(sysStruct, probStruct); simplot(ec, [2;0]); close all`
	`Adding stabilizing target set constraint... Region: 20/61 Region: 40/89 Region: 60/121 Region: 80/140 Region: 100/164 Region: 120/185 Region: 140/205 Region: 160/208 Region: 180/208 Region: 200/208 mpt_mpqp: 208 regions -> Generated 1 partition. Solution consists of 208 regions`
10.4 secs	`Double_Integrator; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.P_N=eye(2); ec=mpt_control(sysStruct, probStruct); simplot(ec, [2;0]); close all`
	`Adding stabilizing target set constraint... Region: 20/61 Region: 40/89 Region: 60/121 Region: 80/140 Region: 100/164 Region: 120/185 Region: 140/205 Region: 160/208 Region: 180/208 Region: 200/208 mpt_mpqp: 208 regions -> Generated 1 partition. Solution consists of 208 regions`
6.5 secs	`Double_Integrator; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.yref=[1;0]; probStruct.Qy=eye(2); ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. Region: 20/54 Region: 40/78 Region: 60/97 Region: 80/101 Region: 100/101 mpt_mpqp: 101 regions -> Generated 1 partition. Solution consists of 101 regions`
6.9 secs	`Double_Integrator; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.yref=[1;0]; probStruct.Qy=eye(2); probStruct.P_N=eye(2); ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. Region: 20/54 Region: 40/78 Region: 60/97 Region: 80/101 Region: 100/101 mpt_mpqp: 101 regions -> Generated 1 partition. Solution consists of 101 regions`
10.3 secs	`Double_Integrator; sysStruct.C=[1 0]; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; sysStruct.D=0; sysStruct.ymax=5; sysStruct.ymin=-5; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	`Adding stabilizing target set constraint... Region: 20/61 Region: 40/89 Region: 60/121 Region: 80/140 Region: 100/164 Region: 120/185 Region: 140/205 Region: 160/208 Region: 180/208 Region: 200/208 mpt_mpqp: 208 regions -> Generated 1 partition. Solution consists of 208 regions`
6.3 secs	`Double_Integrator; sysStruct.C=[1 0]; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.yref=1; probStruct.Qy=1; sysStruct.D=0; sysStruct.ymax=5; sysStruct.ymin=-5; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. Region: 20/56 Region: 40/75 Region: 60/92 Region: 80/94 mpt_mpqp: 94 regions -> Generated 1 partition. Solution consists of 94 regions`
10.4 secs	`Double_Integrator; sysStruct.C=[1 0]; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; sysStruct.D=0; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.P_N=eye(2); ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	`Adding stabilizing target set constraint... Region: 20/61 Region: 40/89 Region: 60/121 Region: 80/140 Region: 100/164 Region: 120/185 Region: 140/205 Region: 160/208 Region: 180/208 Region: 200/208 mpt_mpqp: 208 regions -> Generated 1 partition. Solution consists of 208 regions`
6.3 secs	`Double_Integrator; sysStruct.C=[1 0]; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.yref=1; probStruct.Qy=1; sysStruct.D=0; sysStruct.ymax=5; probStruct.P_N=1; sysStruct.ymin=-5; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. Region: 20/56 Region: 40/75 Region: 60/92 Region: 80/94 mpt_mpqp: 94 regions -> Generated 1 partition. Solution consists of 94 regions`
13.5 secs	`Double_Integrator; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.norm=1; probStruct.N=3; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	`No terminal cost defined. Using the default. Noise polytope empty. * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 311 regions`
6.6 secs	`Double_Integrator; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.yref=[1;0]; probStruct.Qy=eye(2); probStruct.norm=1; probStruct.N=3; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. No terminal cost defined. Using the default. Noise polytope empty. * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 110 regions`
13.3 secs	`Double_Integrator; sysStruct.C=[1 0]; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; sysStruct.D=0; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.norm=1; probStruct.N=3; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	`No terminal cost defined. Using the default. Noise polytope empty. * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 311 regions`
3.9 secs	`Double_Integrator; sysStruct.C=[1 0]; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.yref=1; probStruct.Qy=1; sysStruct.D=0; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.norm=1; probStruct.N=3; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. No terminal cost defined. Using the default. Noise polytope empty. * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 28 regions`
14.9 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	No terminal cost defined. Using the default. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 140 regions
13.8 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; probStruct.P_N=eye(2); ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 112 regions
7.5 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.Qy=eye(2); probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. No terminal cost defined. Using the default. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 60 regions
7.5 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.Qy=eye(2); probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; probStruct.P_N=eye(2); ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 60 regions
10.5 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.Qy=eye(2); probStruct.yref=[1; 0]; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. No terminal cost defined. Using the default. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removed 4 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removed 4 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 58 regions COMPUTETRAJECTORY: maximum number of iterations reached!
10.5 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.Qy=eye(2); probStruct.yref=[1; 0]; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; probStruct.P_N=eye(2); ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removed 4 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removed 4 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 58 regions COMPUTETRAJECTORY: maximum number of iterations reached!
8.9 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; sysStruct.C={[1 0],[1 0],[1 0],[1 0]}; sysStruct.D={0,0,0,0}; sysStruct.g={0,0,0,0}; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.Qy=2; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. No terminal cost defined. Using the default. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 95 regions
8.9 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; sysStruct.C={[1 0],[1 0],[1 0],[1 0]}; sysStruct.D={0,0,0,0}; sysStruct.g={0,0,0,0}; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.Qy=2; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; probStruct.P_N=1; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 95 regions
8.9 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.Qy=2; sysStruct.C={[1 0],[1 0],[1 0],[1 0]}; sysStruct.D={0,0,0,0}; sysStruct.g={0,0,0,0}; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.Qy=2; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. No terminal cost defined. Using the default. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 95 regions
8.8 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.Qy=2; sysStruct.C={[1 0],[1 0],[1 0],[1 0]}; sysStruct.D={0,0,0,0}; sysStruct.g={0,0,0,0}; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.Qy=2; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; probStruct.P_N=1; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removed 2 duplicate regions Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 95 regions
7.0 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.Qy=2; probStruct.yref=1; sysStruct.C={[1 0],[1 0],[1 0],[1 0]}; sysStruct.D={0,0,0,0}; sysStruct.g={0,0,0,0}; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.Qy=2; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. No terminal cost defined. Using the default. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 58 regions
7.0 secs	`pwa_DI; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; probStruct.Qy=2; probStruct.yref=1; sysStruct.C={[1 0],[1 0],[1 0],[1 0]}; sysStruct.D={0,0,0,0}; sysStruct.g={0,0,0,0}; sysStruct.ymax=5; sysStruct.ymin=-5; probStruct.Qy=2; probStruct.N=2; probStruct.norm=1; probStruct.subopt_lev=0; probStruct.P_N=1; ec=mpt_control(sysStruct, probStruct); simplot(ec, [1;1]); close all`
	WARNING: Closed-loop stability not guaranteed for penalties on outputs. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 dynamic 3 dynamic 4 * Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 2 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 3 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 dynamic 4 Removing overlaps... hull 1/4 hull 2/4 hull 3/4 hull 4/4 Solution consists of 58 regions
4.0 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); ecl=mpt_lyapunov(ec, 'pwq');`
	Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions In PWA case, each dynamics has to be associated with exactly one region! Linking dynamics to regions... Computing transition map... mpt_getPWQLyapFct: Found 27 feasible transitions. Solving LMI Problem mpt_getPWQLyapFct: LMI solver thinks problem is infeasible: residual 0.022236 (should be positive). mpt_getPWQLyapFct: Computing lower bound on Lyapunov function... mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: verifying positivity of function... mpt_getPWQLyapFct: verifying decay rate of function... mpt_getPWQLyapFct: Verification showed that function is Lyapunov. mpt_getPWQLyapFct: SUCCESS: Found Piecewise Quadratic Lyapunov function. PWQ Lyapunov function found, closed-loop system is stable. The Lyapunov function was stored to ctrl.details.lyapunov
20.7 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); ecl=mpt_lyapunov(ec, 'pwp');`
	Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions No degree of piecewise-polynomail function specified, assuming ndeg=4 In PWA case, each dynamics has to be associated with exactly one region! Linking dynamics to regions... Computing transition map... mpt_getPWPLyapFct: Found 27 feasible transitions. Solving SOS Problem mpt_getPWPLyapFct: SOS solver has numerical problems... analyzing solution... mpt_getPWPLyap: Computing lower bound on Lyapunov function... success! mpt_getPWPLyapFct: SOS decomposition not certifiable. Running manual verification of results... mpt_getPWPLyapFct: Verifying Decay rate...mpt_getPWPLyapFct:Decay Verification: SOS solver has found infeasible transitions mpt_getPWPLyapFct: Verifying Positivity... success! mpt_getPWPLyapFct: FAILURE: Failed to find Piecewise Polynomial Lyapunov function of degree 4 PWP Lyapunov function NOT found, closed-loop system can be unstable.
8.1 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); ecl=mpt_lyapunov(ec, 'pwp', 2);`
	Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions In PWA case, each dynamics has to be associated with exactly one region! Linking dynamics to regions... Computing transition map... mpt_getPWPLyapFct: Found 27 feasible transitions. Solving SOS Problem mpt_getPWPLyapFct: SOS solver has numerical problems... analyzing solution... mpt_getPWPLyap: Computing lower bound on Lyapunov function... success! mpt_getPWPLyapFct: SUCCESS: Found Piecewise Polynomial Lyapunov function of degree 2 PWP Lyapunov function found, closed-loop system is stable. The Lyapunov function was stored to ctrl.details.lyapunov
12.2 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); ecl=mpt_lyapunov(ec, 'sos');`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions No degree of sum of squares function specified, assuming ndeg=4 mpt_getCommonSOSyapFun: SUCCESS: Found Common Polynomial Lyapunov function of degree 4 SOS Lyapunov function found, closed-loop system is stable. The Lyapunov function was stored to ctrl.details.lyapunov`
3.6 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); ecl=mpt_lyapunov(ec, 'sos', 2);`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions mpt_getCommonSOSLyapFct: certifiable SOS decomposition => Lyapunov function found! mpt_getCommonSOSyapFun: SUCCESS: Found Common Polynomial Lyapunov function of degree 2 SOS Lyapunov function found, closed-loop system is stable. The Lyapunov function was stored to ctrl.details.lyapunov`
1.8 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); ecl=mpt_lyapunov(ec, 'quad');`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions In PWA case, each dynamics has to be associated with exactly one region! Linking dynamics to regions... mpt_getQuadLyapFct: LMI solver found feasible solution. The decay rate is: -0.37566 (should be negative) Quadratic Lyapunov function found, closed-loop system is stable. The Lyapunov function was stored to ctrl.details.lyapunov`
18.9 secs	`Double_Integrator; probStruct.N=2; probStruct.norm=1; ec=mpt_control(sysStruct, probStruct); ecl=mpt_lyapunov(ec, 'pwa');`
	No terminal cost defined. Using the default. Noise polytope empty. * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 28 regions In PWA case, each dynamics has to be associated with exactly one region! Linking dynamics to regions... Computing transition map... mpt_getPWALyapFct: Found 68 feasible transitions. Normalizing constraint polytope ... Switching to solver NAG (e04naf) (faster computation)... Solving LP... SUCCESS: System is asymptotically stable! Minimal decay bound -3.8906 PWA Lyapunov function found, closed-loop system is stable. The Lyapunov function was stored to ctrl.details.lyapunov
13.5 secs	`Double_Integrator; probStruct.norm=1; ec=mpt_control(sysStruct, probStruct); eci=mpt_invariantSet(ec);`
	No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 110 regions Linking dynamics to regions... Linking finished, now computing invariant set... Iteration Number 1 Computing transition map... Iteration Number 2 Computing transition map...
2.3 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); R=mpt_reachSets(ec,unitbox(2,1)+[4;0],10);`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions Horizon 5 Horizon 10`
7.3 secs	`Double_Integrator; probStruct.norm=1; ec=mpt_control(sysStruct, probStruct); R=mpt_reachSets(ec,unitbox(2,1)+[4;0],10);`
	`No terminal cost defined. Using the default. Noise polytope empty. * Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 4, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 110 regions Horizon 5 Horizon 10`
20.7 secs	`A=[-1 -4; 4 -1]; B=[1;1]; C=[1 0]; D=0; di=ss(A,B,C,D); did=c2d(di,0.02); sst=mpt_sys(did); sst.ymax=10; sst.ymin=-10; sst.umax=1; sst.umin=-1; X0=polytope([0.9 0.1; 0.9 -0.1; 1.1 0.1; 1.1 -0.1]); U0=unitbox(1,0.1); R=mpt_reachSets(sst,X0,U0,100);`
	`Horizon 5 Horizon 10 Horizon 15 Horizon 20 Horizon 25 Horizon 30 Horizon 35 Horizon 40 Horizon 45 Horizon 50 Horizon 55 Horizon 60 Horizon 65 Horizon 70 Horizon 75 Horizon 80 Horizon 85 Horizon 90 Horizon 95 Horizon 100`
0.1 secs	`Double_Integrator; R=mpt_reachSets(sysStruct,unitbox(2,1)+[4;0],10);`
	`Horizon 5 Horizon 10`
0.2 secs	`Double_Integrator; R=mpt_reachSets(sysStruct,unitbox(2,1)+[4;0],unitbox(1,1),10);`
	`Horizon 5 Horizon 10`
0.0 secs	`R=mpt_reachXU(unitbox(2,1)+[3;0], unitbox(1,1), [1 1; 0 1], [1; 0.5])`
	`R= Normalized, minimal representation polytope in R^2 H: [6x2 double] K: [6x1 double] normal: 1 minrep: 1 xCheb: [2x1 double] RCheb: 0.8944 [-0.44721 0.89443] [-0.44721] [ -0 -1] [ 1.5] [-0.70711 0.70711] [ -1.0607] [ 0.44721 -0.89443] x <= [ 2.2361] [ 0.70711 -0.70711] [ 3.182] [ -0 1] [ 1.5]`
0.0 secs	`R=mpt_reachXU(unitbox(2,1)+[3;0], unitbox(1,1), [1 1; 0 1], [1; 0.5], [0.5; 0])`
	`R= Normalized, minimal representation polytope in R^2 H: [6x2 double] K: [6x1 double] normal: 1 minrep: 1 xCheb: [2x1 double] RCheb: 0.8944 [-0.44721 0.89443] [-0.67082] [ -0 -1] [ 1.5] [-0.70711 0.70711] [ -1.4142] [ 0.44721 -0.89443] x <= [ 2.4597] [ 0.70711 -0.70711] [ 3.5355] [ -0 1] [ 1.5]`
0.0 secs	`R=mpt_reachXU(unitbox(2,1)+[3;0], unitbox(1,1), [1 1; 0 0], [1; 0.5])`
	`R= Normalized, minimal representation polytope in R^2 H: [4x2 double] K: [4x1 double] normal: 1 minrep: 1 xCheb: [2x1 double] RCheb: 0.5000 [-0.44721 0.89443] [-0.44721] [ -0 -1] [ 0.5] [ 0.44721 -0.89443] x <= [ 2.2361] [ -0 1] [ 0.5]`
0.0 secs	`R=mpt_reachXU(unitbox(2,1)+[3;0], unitbox(1,1), [1 1; 0 0], [1; 0.5], [0.5; 0])`
	`R= Normalized, minimal representation polytope in R^2 H: [4x2 double] K: [4x1 double] normal: 1 minrep: 1 xCheb: [2x1 double] RCheb: 0.5000 [-0.44721 0.89443] [-0.67082] [ -0 -1] [ 0.5] [ 0.44721 -0.89443] x <= [ 2.4597] [ -0 1] [ 0.5]`
1.8 secs	`A=[-1 -4; 4 -1]; B=[1;1]; C=[1 0]; D=0; di=ss(A,B,C,D); did=c2d(di,0.02); sst=mpt_sys(did); sst.ymax=10; sst.ymin=-10; sst.umax=1; sst.umin=-1; X0=polytope([0.9 0.1; 0.9 -0.1; 1.1 0.1; 1.1 -0.1]); U0=unitbox(1,0.1); Xf=unitbox(2,0.05)+[0.1; -0.4]; f=mpt_verify(sst,X0,Xf,100,U0); mpt_assert(f);`
	`Performing verification based on reachable sets... Horizon 5 Horizon 10 Horizon 15 Horizon 20 Horizon 25 Horizon 30 Horizon 35 Horizon 40 Horizon 45 Horizon 50 Horizon 55`
1.6 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); f=mpt_verify(ec,unitbox(2,1)+[3;0],unitbox(2,0.1),100); mpt_assert(f);`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions Performing verification based on reachable sets... Horizon 5`
0.3 secs	`Double_Integrator; P=mpt_maxCtrlSet(sysStruct);`
	`Iteration 1`
0.4 secs	`Double_Integrator; P=mpt_maxCtrlSet(sysStruct, struct('Kinf', 1));`
	`Iteration 1`
0.3 secs	`Double_Integrator_addU; P=mpt_maxCtrlSet(sysStruct);`
	`Iteration 1`
0.5 secs	`Double_Integrator_addU; P=mpt_maxCtrlSet(sysStruct, struct('Kinf', 1));`
	`Iteration 1`
2.8 secs	`pwa_DI; P=mpt_maxCtrlSet(sysStruct);`
	`iteration 1 iteration 2 iteration 3 iteration 4 iteration 5`
7.3 secs	`pwa_DI; P=mpt_maxCtrlSet(sysStruct, struct('Kinf', 1));`
	`origin included in: 1 2 3 4 Computing target set Iteration Number 1 mpt_iterativePWA: union of terminal sets is convex, merging... Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7`
4.8 secs	`pwa_DI_addU; P=mpt_maxCtrlSet(sysStruct);`
	`iteration 1 iteration 2 iteration 3 iteration 4 iteration 5`
52.6 secs	`pwa_DI_addU; P=mpt_maxCtrlSet(sysStruct, struct('Kinf', 1));`
	origin included in: 1 2 3 4 Computing target set Iteration Number 1 Iteration Number 2 Generating feasible set new horizon: 1 exploring 1 target sets in this iteration new horizon: 2 exploring 5 target sets in this iteration new horizon: 3 exploring 9 target sets in this iteration new horizon: 4 exploring 14 target sets in this iteration new horizon: 5 exploring 20 target sets in this iteration new horizon: 6 exploring 21 target sets in this iteration new horizon: 7 exploring 21 target sets in this iteration new horizon: 8 exploring 15 target sets in this iteration new horizon: 9 exploring 14 target sets in this iteration new horizon: 10 exploring 13 target sets in this iteration new horizon: 11 exploring 13 target sets in this iteration new horizon: 12 exploring 7 target sets in this iteration new horizon: 13 exploring 7 target sets in this iteration new horizon: 14 exploring 10 target sets in this iteration new horizon: 15 exploring 9 target sets in this iteration new horizon: 16 exploring 11 target sets in this iteration new horizon: 17 exploring 7 target sets in this iteration
9.0 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); ecst=mpt_searchTree(ec);`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions Eliminating redundant control laws Law 1/25 Law 10/25 Law 20/25 Law 25/25 Extracting hyperplanes Removing linear dependent hyperplanes Line 1/83 Line 10/74 Line 20/64 Line 30/54 Line 40/44 hyperplane 1/44 hyperplane 11/44 hyperplane 22/44 hyperplane 33/44 hyperplane 44/44 iteration 1 iteration 20 Algorithm finished at iteration 32`
0.5 secs	`Double_Integrator; ec=mpt_simplexContr(sysStruct, probStruct); ec`
	Computing feasible Set... Computing simplices... Computing interpolation... Computing input sequences... Computing input sequences: 1 / 6 Computing input sequences: 2 / 6 Computing input sequences: 3 / 6 Computing input sequences: 4 / 6 Computing input sequences: 5 / 6 Computing input sequences: 6 / 6 ec= Explicit MPC controller defined over 6 regions in 2D Controlled system: LTI system, 2 states, 1 input, 2 outputs Control objective: horizon 5 optimal control problem (2-norm) Regulation: towards origin Invariance: the closed-loop system is invariant Stability: the closed-loop system is stable Type 'struct(ec)' to see all fields. Fields can be accessed directly, e.g. type 'ec.Pn' to get the controller partition.
3.4 secs	`[e,x0]=mpt_getInnerEllipsoid(unitbox(2,1)); mpt_plotellip(e,x0); close all`
5.2 secs	`[e,x0]=mpt_getOutterEllipsoid(unitbox(2,1)); mpt_plotellip(e,x0); close all`
3.8 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;0]); close all`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions`
4.3 secs	`Double_Integrator; probStruct.N=Inf; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;0]); close all`
	`------------ New Horizon 2 ------------ ------------ New Horizon 3 ------------ ------------ New Horizon 4 ------------ ------------ New Horizon 5 ------------ ------------ New Horizon 6 ------------ ------------ New Horizon 7 ------------ ------------ New Horizon 8 ------------ ------------ New Horizon 9 ------------ ------------ New Horizon 10 ------------ ------------ New Horizon 11 ------------ Solution consists of 35 regions`
4.5 secs	`Double_Integrator; probStruct.subopt_lev=1; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;0]); close all`
	`WARNING: Prediction horizon "probStruct.N" should be set to Infinity for sub-optimality levels 1! WARNING: Prediction horizon "probStruct.N" should be set to Infinity for sub-optimality levels 1! Iteration 1 Iteration 2 Iteration 3 Iteration 4 Iteration 5 Iteration 6 Iteration 7 Iteration 8 Iteration 9 Iteration 10 Iteration 11 Solution consists of 51 regions`
3.5 secs	`Double_Integrator; probStruct.subopt_lev=2; probStruct.N=1; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;0]); close all`
	Iteration 1 mpt_mpqp: 3 regions Calculating PWQ Lyapunov function... Computing transition map... mpt_getPWQLyapFct: Found 7 feasible transitions. Solving LMI Problem mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: Computing lower bound on Lyapunov function... mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: verifying positivity of function... mpt_getPWQLyapFct: verifying decay rate of function... mpt_getPWQLyapFct: Verification showed that function is Lyapunov. mpt_getPWQLyapFct: SUCCESS: Found Piecewise Quadratic Lyapunov function. Lyapunov function found, controller is stabilizing Solution consists of 3 regions
4.5 secs	`Double_Integrator; probStruct.subopt_lev=2; probStruct.N=2; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;0]); close all`
	Iteration 1 mpt_mpqp: 7 regions Calculating PWQ Lyapunov function... Computing transition map... mpt_getPWQLyapFct: Found 17 feasible transitions. Solving LMI Problem mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: Computing lower bound on Lyapunov function... mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: verifying positivity of function... mpt_getPWQLyapFct: verifying decay rate of function... mpt_getPWQLyapFct: Verification showed that function is Lyapunov. mpt_getPWQLyapFct: SUCCESS: Found Piecewise Quadratic Lyapunov function. Lyapunov function found, controller is stabilizing Solution consists of 7 regions
3.5 secs	`ThirdOrder; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;2;2]); close all`
	`Adding stabilizing target set constraint... mpt_mpqp: 3 regions -> Generated 1 partition. Solution consists of 3 regions`
3.5 secs	`ThirdOrder; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;2;2],10); close all`
	`Adding stabilizing target set constraint... mpt_mpqp: 3 regions -> Generated 1 partition. Solution consists of 3 regions`
3.4 secs	`ThirdOrder; probStruct.N=Inf; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;2;2]); close all`
	`------------ New Horizon 2 ------------ Solution consists of 3 regions`
3.4 secs	`ThirdOrder; probStruct.subopt_lev=1; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;2;2]); close all`
	`WARNING: Prediction horizon "probStruct.N" should be set to Infinity for sub-optimality levels 1! WARNING: Prediction horizon "probStruct.N" should be set to Infinity for sub-optimality levels 1! Iteration 1 Iteration 2 Solution consists of 3 regions`
10.8 secs	`pwa_sincos; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;0]); close all`
	origin included in: 1 2 Computing target set Iteration Number 1 Iteration Number 2 Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 46 hulls to be explored Generating regions dynamics 1, hull 1/23 dynamics 1, hull 8/23 dynamics 1, hull 16/23 dynamics 1, hull 23/23 dynamics 2, hull 1/23 dynamics 2, hull 8/23 dynamics 2, hull 16/23 dynamics 2, hull 23/23 164 regions generated Removing unused regions (backwards)... dynamics 1, hull 23/23 dynamics 1, hull 16/23 dynamics 1, hull 8/23 dynamics 1, hull 1/23 dynamics 2, hull 23/23 dynamics 2, hull 16/23 dynamics 2, hull 8/23 dynamics 2, hull 1/23 Solution consists of 98 regions
79.2 secs	`opt_sincos; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;0]); close all`
	Generating the "core" ---Iteration 1--- exploring dynamics 1 exploring dynamics 2 Removed 5 duplicate regions Removed 5 duplicate regions Regions: 10 ---Iteration 2--- exploring dynamics 1 exploring dynamics 2 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Regions: 19 ---Iteration 3--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Regions: 49 ---Iteration 4--- exploring dynamics 1 exploring dynamics 2 Removed 4 duplicate regions Removing overlaps... hull 1/16 hull 5/16 hull 10/16 hull 15/16 hull 16/16 Removed 4 duplicate regions Removing overlaps... hull 1/16 hull 5/16 hull 10/16 hull 15/16 hull 16/16 Regions: 80 ---Iteration 5--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Regions: 30 Core has at least 6 regions but we did not yet fully converge ---Iteration 6--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/10 hull 3/10 hull 6/10 hull 9/10 hull 10/10 Removed 3 duplicate regions Removing overlaps... hull 1/10 hull 3/10 hull 6/10 hull 9/10 hull 10/10 Regions: 30 Core consists of 10 regions Exploring the state-space ---Iteration 1--- exploring dynamics 1 exploring dynamics 2 Removed 8 duplicate regions Removing overlaps... hull 1/11 hull 4/11 hull 8/11 hull 11/11 Removed 8 duplicate regions Removing overlaps... hull 1/11 hull 4/11 hull 8/11 hull 11/11 Regions: 30 Core: 10 regions Ring: 20 regions ---Iteration 2--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/17 hull 6/17 hull 12/17 hull 17/17 Removed 3 duplicate regions Removing overlaps... hull 1/17 hull 6/17 hull 12/17 hull 17/17 Regions: 70 Core: 24 regions Ring: 46 regions ---Iteration 3--- exploring dynamics 1 exploring dynamics 2 Removed 6 duplicate regions Removing overlaps... hull 1/29 hull 10/29 hull 20/29 hull 29/29 Removed 6 duplicate regions Removing overlaps... hull 1/29 hull 10/29 hull 20/29 hull 29/29 Regions: 124 Core: 58 regions Ring: 66 regions ---Iteration 4--- exploring dynamics 1 exploring dynamics 2 Removed 8 duplicate regions Removing overlaps... hull 1/35 hull 12/35 hull 24/35 hull 35/35 Removed 8 duplicate regions Removing overlaps... hull 1/35 hull 12/35 hull 24/35 hull 35/35 Regions: 188 Core: 104 regions Ring: 84 regions ---Iteration 5--- exploring dynamics 1 exploring dynamics 2 Removed 4 duplicate regions Removing overlaps... hull 1/45 hull 15/45 hull 30/45 hull 45/45 Removed 4 duplicate regions Removing overlaps... hull 1/45 hull 15/45 hull 30/45 hull 45/45 Regions: 242 Core: 162 regions Ring: 80 regions ---Iteration 6--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/23 hull 8/23 hull 16/23 hull 23/23 Removed 3 duplicate regions Removing overlaps... hull 1/23 hull 8/23 hull 16/23 hull 23/23 Regions: 252 Core: 218 regions Ring: 34 regions ---Iteration 7--- exploring dynamics 1 exploring dynamics 2 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Regions: 252 Core: 246 regions Ring: 6 regions ---Iteration 8--- exploring dynamics 1 exploring dynamics 2 Regions: 252 Core: 252 regions Ring: 0 regions Algorithm finished after 8 iterations Solution consists of 252 regions
79.3 secs	`opt_sincos; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;0],10); close all`
	Generating the "core" ---Iteration 1--- exploring dynamics 1 exploring dynamics 2 Removed 5 duplicate regions Removed 5 duplicate regions Regions: 10 ---Iteration 2--- exploring dynamics 1 exploring dynamics 2 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Regions: 19 ---Iteration 3--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Regions: 49 ---Iteration 4--- exploring dynamics 1 exploring dynamics 2 Removed 4 duplicate regions Removing overlaps... hull 1/16 hull 5/16 hull 10/16 hull 15/16 hull 16/16 Removed 4 duplicate regions Removing overlaps... hull 1/16 hull 5/16 hull 10/16 hull 15/16 hull 16/16 Regions: 80 ---Iteration 5--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Regions: 30 Core has at least 6 regions but we did not yet fully converge ---Iteration 6--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/10 hull 3/10 hull 6/10 hull 9/10 hull 10/10 Removed 3 duplicate regions Removing overlaps... hull 1/10 hull 3/10 hull 6/10 hull 9/10 hull 10/10 Regions: 30 Core consists of 10 regions Exploring the state-space ---Iteration 1--- exploring dynamics 1 exploring dynamics 2 Removed 8 duplicate regions Removing overlaps... hull 1/11 hull 4/11 hull 8/11 hull 11/11 Removed 8 duplicate regions Removing overlaps... hull 1/11 hull 4/11 hull 8/11 hull 11/11 Regions: 30 Core: 10 regions Ring: 20 regions ---Iteration 2--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/17 hull 6/17 hull 12/17 hull 17/17 Removed 3 duplicate regions Removing overlaps... hull 1/17 hull 6/17 hull 12/17 hull 17/17 Regions: 70 Core: 24 regions Ring: 46 regions ---Iteration 3--- exploring dynamics 1 exploring dynamics 2 Removed 6 duplicate regions Removing overlaps... hull 1/29 hull 10/29 hull 20/29 hull 29/29 Removed 6 duplicate regions Removing overlaps... hull 1/29 hull 10/29 hull 20/29 hull 29/29 Regions: 124 Core: 58 regions Ring: 66 regions ---Iteration 4--- exploring dynamics 1 exploring dynamics 2 Removed 8 duplicate regions Removing overlaps... hull 1/35 hull 12/35 hull 24/35 hull 35/35 Removed 8 duplicate regions Removing overlaps... hull 1/35 hull 12/35 hull 24/35 hull 35/35 Regions: 188 Core: 104 regions Ring: 84 regions ---Iteration 5--- exploring dynamics 1 exploring dynamics 2 Removed 4 duplicate regions Removing overlaps... hull 1/45 hull 15/45 hull 30/45 hull 45/45 Removed 4 duplicate regions Removing overlaps... hull 1/45 hull 15/45 hull 30/45 hull 45/45 Regions: 242 Core: 162 regions Ring: 80 regions ---Iteration 6--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/23 hull 8/23 hull 16/23 hull 23/23 Removed 3 duplicate regions Removing overlaps... hull 1/23 hull 8/23 hull 16/23 hull 23/23 Regions: 252 Core: 218 regions Ring: 34 regions ---Iteration 7--- exploring dynamics 1 exploring dynamics 2 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Regions: 252 Core: 246 regions Ring: 6 regions ---Iteration 8--- exploring dynamics 1 exploring dynamics 2 Regions: 252 Core: 252 regions Ring: 0 regions Algorithm finished after 8 iterations Solution consists of 252 regions
4.3 secs	`opt_sincos; probStruct.N=3; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;0]); close all`
	`Noise polytope empty. * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 * Step 2, targets partitions: 2, regions in the previous step 0 dynamic 1 dynamic 2 *** Step 1, targets partitions: 4, regions in the previous step 0 dynamic 1 Removing overlaps... hull 1/3 hull 2/3 hull 3/3 dynamic 2 Removing overlaps... hull 1/3 hull 2/3 hull 3/3 Solution consists of 26 regions`
3.6 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;0],10); close all`
	`Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions`
4.1 secs	`ThirdOrder; probStruct.tracking=1; probStruct.N=2; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;2;2],[],struct('reference',[0;0;0])); close all`
	`mpt_mpqp: 15 regions -> Generated 1 partition. Solution consists of 15 regions`
1.6 secs	`ThirdOrder; probStruct.tracking=1; probStruct.N=2; ec=mpt_control(sysStruct, probStruct); sim(ec,[2;2;2],[],struct('reference',[0;0;0]));`
	`mpt_mpqp: 15 regions -> Generated 1 partition. Solution consists of 15 regions`
3.6 secs	`ThirdOrder; probStruct.tracking=2; probStruct.N=2; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;2;2],[],struct('reference',[0;0;0])); close all`
	`================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ mpt_mpqp: 9 regions -> Generated 1 partition. Solution consists of 9 regions`
4.1 secs	`ThirdOrder; probStruct.tracking=1; probStruct.N=2; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;2;2],10,struct('reference',[0;0;0])); close all`
	`mpt_mpqp: 15 regions -> Generated 1 partition. Solution consists of 15 regions`
3.6 secs	`ThirdOrder; probStruct.tracking=2; probStruct.N=2; ec=mpt_control(sysStruct, probStruct); simplot(ec,[2;2;2],10,struct('reference',[0;0;0])); close all`
	`================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ mpt_mpqp: 9 regions -> Generated 1 partition. Solution consists of 9 regions`
17.6 secs	`ThirdOrder; sysStruct.dumax=[1;1]; sysStruct.dumin=[-0.5; -0.3]; probStruct.N=2; ec=mpt_control(sysStruct, probStruct); simplot(ec,[1;1;1]); close all`
	`Adding stabilizing target set constraint... Region: 20/83 Region: 40/126 Region: 60/171 Region: 80/212 Region: 100/240 Region: 120/265 Region: 140/283 Region: 160/288 Region: 180/291 Region: 200/292 Region: 220/294 Region: 240/295 Region: 260/296 Region: 280/298 mpt_mpqp: 299 regions -> Generated 1 partition. Solution consists of 299 regions`
17.6 secs	`ThirdOrder; sysStruct.dumax=[1;1]; sysStruct.dumin=[-0.5; -0.3]; probStruct.N=2; ec=mpt_control(sysStruct, probStruct); simplot(ec,[1;1;1],10); close all`
	`Adding stabilizing target set constraint... Region: 20/83 Region: 40/126 Region: 60/171 Region: 80/212 Region: 100/240 Region: 120/265 Region: 140/283 Region: 160/288 Region: 180/291 Region: 200/292 Region: 220/294 Region: 240/295 Region: 260/296 Region: 280/298 mpt_mpqp: 299 regions -> Generated 1 partition. Solution consists of 299 regions`
3.5 secs	`ThirdOrder; probStruct.tracking=1; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[2;2;2],[],struct('reference',[0;0;0])); close all`
	`Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
3.4 secs	`ThirdOrder; probStruct.tracking=2; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[2;2;2],[],struct('reference',[0;0;0])); close all`
	`================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled...`
3.5 secs	`ThirdOrder; probStruct.tracking=1; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[2;2;2],10,struct('reference',[0;0;0])); close all`
	`Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
3.5 secs	`ThirdOrder; probStruct.tracking=2; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[2;2;2],10,struct('reference',[0;0;0])); close all`
	`================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled...`
3.5 secs	`ThirdOrder; sysStruct.dumax=[1;1]; sysStruct.dumin=[-0.5; -0.3]; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[1;1;1]); close all`
	`Adding stabilizing target set constraint... Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
3.5 secs	`ThirdOrder; sysStruct.dumax=[1;1]; sysStruct.dumin=[-0.5; -0.3]; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[1;1;1],10); close all`
	`Adding stabilizing target set constraint... Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
0.6 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct, 'online');`
	`Adding stabilizing target set constraint... Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled...`
3.6 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[2;2]); close all`
	`Adding stabilizing target set constraint... Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled...`
0.7 secs	`Double_Integrator; ec=mpt_control(sysStruct, probStruct, 'online'); sim(ec,[2;2]); close all`
	`Adding stabilizing target set constraint... Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled...`
0.6 secs	`Double_Integrator; probStruct.tracking=1; ec=mpt_control(sysStruct, probStruct, 'online');`
	`Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
3.8 secs	`Double_Integrator; probStruct.tracking=1; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[2;2],[],struct('reference',[1;0])); close all`
	`Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
0.7 secs	`Double_Integrator; probStruct.tracking=1; ec=mpt_control(sysStruct, probStruct, 'online'); sim(ec,[2;2],[],struct('reference',[1;0])); close all`
	`Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
0.6 secs	`Double_Integrator; probStruct.tracking=2; ec=mpt_control(sysStruct, probStruct, 'online');`
	`================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled...`
3.7 secs	`Double_Integrator; probStruct.tracking=2; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[2;2],[],struct('reference',[1;0])); close all`
	`================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled...`
0.7 secs	`Double_Integrator; probStruct.tracking=2; ec=mpt_control(sysStruct, probStruct, 'online'); sim(ec,[2;2],[],struct('reference',[1;0])); close all`
	`================================================================================ WARNING: offset-free tracking cannot be guaranteed with probStruct.tracking=2 ! ================================================================================ Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled...`
0.8 secs	`Double_Integrator; sysStruct.dumax=0.5; sysStruct.dumin=-0.3; ec=mpt_control(sysStruct, probStruct, 'online');`
	`Adding stabilizing target set constraint... Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
3.5 secs	`Double_Integrator; sysStruct.dumin=-0.3; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[2;0]); close all`
	`Adding stabilizing target set constraint... Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
1.0 secs	`Double_Integrator; sysStruct.dumin=-0.3; ec=mpt_control(sysStruct, probStruct, 'online'); sim(ec,[2;0]); close all`
	`Adding stabilizing target set constraint... Using an LTI model... WARNING: no state constraints defined, problem can be badly scaled... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
0.9 secs	`opt_sincos; probStruct.N=5; ec=mpt_control(sysStruct, probStruct, 'online');`
	`Using a PWA model...`
3.6 secs	`opt_sincos; probStruct.N=5; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[5;5]); close all`
	`Using a PWA model...`
1.0 secs	`opt_sincos; probStruct.N=5; ec=mpt_control(sysStruct, probStruct, 'online'); sim(ec,[5;5]); close all`
	`Using a PWA model...`
1.2 secs	`opt_sincos; probStruct.N=5; probStruct.norm=2; ec=mpt_control(sysStruct, probStruct, 'online');`
	`Adding stabilizing target set constraint... Using a PWA model...`
6.9 secs	`opt_sincos; probStruct.N=5; probStruct.norm=2; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[5;5]); close all`
	`Adding stabilizing target set constraint... Using a PWA model...`
4.3 secs	`opt_sincos; probStruct.N=5; probStruct.norm=2; ec=mpt_control(sysStruct, probStruct, 'online'); sim(ec,[5;5]); close all`
	`Adding stabilizing target set constraint... Using a PWA model...`
1.3 secs	`two_tanks; probStruct.N=4; ec=mpt_control(sysStruct, probStruct, 'online');`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. Using a PWA model...`
4.9 secs	`two_tanks; probStruct.N=4; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[0.5;0]); close all`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. Using a PWA model...`
2.4 secs	`two_tanks; probStruct.N=4; ec=mpt_control(sysStruct, probStruct, 'online'); sim(ec,[0.5;0]); close all`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. Using a PWA model...`
1.2 secs	`two_tanks; probStruct.N=4; probStruct.norm=2; ec=mpt_control(sysStruct, probStruct, 'online');`
	`WARNING: Closed-loop stability not guaranteed for penalties on outputs. Using a PWA model...`
1.2 secs	`opt_sincos; probStruct.N=5; probStruct.tracking=1; ec=mpt_control(sysStruct, probStruct, 'online');`
	`Using a PWA model... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
16.0 secs	`opt_sincos; probStruct.N=5; probStruct.tracking=1; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[5;5],[],struct('reference',[1;0])); close all`
	`Using a PWA model... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated! COMPUTETRAJECTORY: maximum number of iterations reached!`
26.1 secs	`opt_sincos; probStruct.N=5; probStruct.tracking=1; ec=mpt_control(sysStruct, probStruct, 'online'); sim(ec,[5;5],[],struct('reference',[1;0])); close all`
	`Using a PWA model... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
1.2 secs	`opt_sincos; probStruct.N=5; probStruct.tracking=1; probStruct.norm=2; ec=mpt_control(sysStruct, probStruct, 'online');`
	`Using a PWA model... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
198.8 secs	`opt_sincos; probStruct.N=5; probStruct.tracking=1; probStruct.norm=2; ec=mpt_control(sysStruct, probStruct, 'online'); simplot(ec,[5;5],[],struct('reference',[1;0])); close all`
	`Using a PWA model... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated! COMPUTETRAJECTORY: maximum number of iterations reached!`
389.8 secs	`opt_sincos; probStruct.N=5; probStruct.tracking=1; probStruct.norm=2; ec=mpt_control(sysStruct, probStruct, 'online'); sim(ec,[5;5],[],struct('reference',[1;0])); close all`
	`Using a PWA model... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated!`
53.6 secs	`evalin('base','ballandplatedemo'); bdclose('all'); close all`
	`Simulating... .............................. .............................. .............................. .......... Now running simulation is Simulink...`
17.2 secs	`evalin('base','turbocardemo'); bdclose('all'); close all`
	No algebraic loops detected. Conversion from HYSDEL to PWA form finished (2.20 sec) Value of "probStruct.subopt_lev" not specified, assuming 0... Using an MLD model... Warning: Input port 2 of block 'turbocarsim/On-Line Controller' is not connected. > In /home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/turbocar/turbocardemo.m at line 56 In /home/mpt/matlab/mpt-utils/logged_eval.m at line 14 In /home/mpt/matlab/mpt-utils/test_distro.m at line 383 In /home/mpt/matlab/mpt-utils/makedaily.m at line 353 In /home/mpt/matlab/mpt-utils/make.m at line 210
45.7 secs	`evalin('base','twotanksdemo'); bdclose('all'); close all`
	No algebraic loops detected. Conversion from HYSDEL to PWA form finished (1.21 sec) Computing an explicit controller... WARNING: Closed-loop stability not guaranteed for penalties on outputs. --- Step 1 (out of 3) --- mpt_mplp: 1 regions mpt_mplp: 1 regions mpt_mplp: 2 regions mpt_mplp: 2 regions -> Generated 2 partitions. Generated 4 regions --- Step 2 (out of 3) --- mpt_mplp: 4 regions mpt_mplp: 2 regions mpt_mplp: 2 regions mpt_mplp: 3 regions mpt_mplp: 3 regions mpt_mplp: 4 regions -> Generated 5 partitions. Generated 15 regions --- Step 3 (out of 3) --- mpt_mplp: 8 regions mpt_mplp: 3 regions mpt_mplp: 5 regions mpt_mplp: 4 regions mpt_mplp: 4 regions mpt_mplp: 4 regions mpt_mplp: 5 regions mpt_mplp: 4 regions mpt_mplp: 4 regions mpt_mplp: 4 regions mpt_mplp: 6 regions mpt_mplp: 12 regions mpt_mplp: 3 regions Binary node 20/20 -> Generated 12 partitions. Generated 62 regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Solution consists of 66 regions Computing an on-line controller... WARNING: Closed-loop stability not guaranteed for penalties on outputs. Using an MLD model... Plotting value of control moves... Warning: Output port 2 of block 'twotankssim/Explicit Controller' is not connected. > In /home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/watertanks/twotanksdemo.m at line 72 In /home/mpt/matlab/mpt-utils/logged_eval.m at line 14 In /home/mpt/matlab/mpt-utils/test_distro.m at line 384 In /home/mpt/matlab/mpt-utils/makedaily.m at line 353 In /home/mpt/matlab/mpt-utils/make.m at line 210 Warning: Output port 2 of block 'twotankssim/On-Line Controller' is not connected. > In /home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/watertanks/twotanksdemo.m at line 72 In /home/mpt/matlab/mpt-utils/logged_eval.m at line 14 In /home/mpt/matlab/mpt-utils/test_distro.m at line 384 In /home/mpt/matlab/mpt-utils/makedaily.m at line 353 In /home/mpt/matlab/mpt-utils/make.m at line 210
19.1 secs	`evalin('base','fourtanksdemo'); bdclose('all'); close all`
	Value of "probStruct.subopt_lev" not specified, assuming 0... WARNING: Closed-loop stability not guaranteed for penalties on outputs. Using an LTI model... The controller will return deltaU=u(k)-u(k-1) instead of u(k) when evaluated! Warning: Output port 2 of block 'fourtankssim/MPT Controller' is not connected. > In /home/mpt/matlab/mpt-utils/mptdistr/mpt/examples/watertanks/fourtanksdemo.m at line 78 In /home/mpt/matlab/mpt-utils/logged_eval.m at line 14 In /home/mpt/matlab/mpt-utils/test_distro.m at line 385 In /home/mpt/matlab/mpt-utils/makedaily.m at line 353 In /home/mpt/matlab/mpt-utils/make.m at line 210
8.4 secs	`reachdemo1; close all`
	`Reachability analysis demo - Part 1 Computing N-Step reachable sets Horizon 5 Horizon 10 Horizon 15 Horizon 20 Horizon 25 Horizon 30 Horizon 35 Horizon 40 Horizon 45 Horizon 50`
15.5 secs	`reachdemo2; close all`
	Reachability analysis demo - Part 2 No terminal cost defined. Using the default. Noise polytope empty. * Step 3, targets partitions: 1, regions in the previous step 0 dynamic 1 * Step 2, targets partitions: 1, regions in the previous step 0 dynamic 1 *** Step 1, targets partitions: 1, regions in the previous step 0 dynamic 1 Solution consists of 50 regions Computing N-Step reachable sets Horizon 5 Now computing also lower-dimensional sets... Computing N-Step reachable sets (include lower-dimensional sets) Horizon 5
14.9 secs	`verifdemo1; close all`
	Verification demo - Part 1 Performing verification... Performing verification based on reachable sets... Horizon 5 Horizon 10 Horizon 15 Horizon 20 Horizon 25 Horizon 30 Horizon 35 Horizon 40 Target set CAN be reached in 44 steps Performing verification with different target set... Performing verification based on reachable sets... Horizon 5 Horizon 10 Horizon 15 Horizon 20 Horizon 25 Horizon 30 Horizon 35 Horizon 40 Horizon 45 Horizon 50 Target set CAN NOT be reached in 50 steps Double-checking results... Horizon 5 Horizon 10 Horizon 15 Horizon 20 Horizon 25 Horizon 30 Horizon 35 Horizon 40 Horizon 45 Horizon 50
12.7 secs	`verifdemo2; close all`
	Verification demo - Part 2 Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions Performing verification... Performing verification based on reachable sets... Horizon 5 Horizon 10 Controller DOES NOT drive system states into Xf in 10 steps Performing verification with different target set... Performing verification based on reachable sets... Horizon 5 Controller drives system states into Xf in 6 steps Double-check using reach set computation... Horizon 5 Horizon 10
2.7 secs	`sysStruct = mpt_sys(which('two_tanks.hys'));`
	`No algebraic loops detected. Conversion from HYSDEL to PWA form finished (1.66 sec)`
2.1 secs	`sysStruct = mpt_sys(which('turbo_car.hys'));`
	`No algebraic loops detected. Conversion from HYSDEL to PWA form finished (1.86 sec)`
2.1 secs	`sysStruct = mpt_sys(which('pwa_car.hys'));`
	`No algebraic loops detected. Conversion from HYSDEL to PWA form finished (1.81 sec)`
0.0 secs	`cd('mptdistr/mpt/examples/demos')`
123.5 secs	`mpt_makedemos`
	making Double_Integrator; probStruct.N=5; probStruct.norm=2; Adding stabilizing target set constraint... Region: 20/23 mpt_mpqp: 25 regions -> Generated 1 partition. Solution consists of 25 regions making Double_Integrator; probStruct.N=Inf; probStruct.norm=2; ------------ New Horizon 2 ------------ ------------ New Horizon 3 ------------ ------------ New Horizon 4 ------------ ------------ New Horizon 5 ------------ ------------ New Horizon 6 ------------ ------------ New Horizon 7 ------------ ------------ New Horizon 8 ------------ ------------ New Horizon 9 ------------ ------------ New Horizon 10 ------------ ------------ New Horizon 11 ------------ Solution consists of 35 regions making Double_Integrator; probStruct.N=Inf; probStruct.norm=2; probStruct.tracking=1; Region: 20/72 Region: 40/111 Region: 60/131 Region: 80/147 Region: 100/166 Region: 120/175 Region: 140/175 Region: 160/175 mpt_mpqp: 175 regions -> Generated 1 partition. Solution consists of 175 regions making Double_Integrator; probStruct.N=1; probStruct.norm=2; probStruct.subopt_lev=2; Iteration 1 mpt_mpqp: 3 regions Calculating PWQ Lyapunov function... Computing transition map... mpt_getPWQLyapFct: Found 7 feasible transitions. Solving LMI Problem mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: Computing lower bound on Lyapunov function... mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: verifying positivity of function... mpt_getPWQLyapFct: verifying decay rate of function... mpt_getPWQLyapFct: Verification showed that function is Lyapunov. mpt_getPWQLyapFct: SUCCESS: Found Piecewise Quadratic Lyapunov function. Lyapunov function found, controller is stabilizing Solution consists of 3 regions making Double_Integrator_addU Region: 20/26 mpt_mpqp: 29 regions Solution consists of 29 regions making Double_Integrator; probStruct.yref = [2;0]; probStruct.Qy = 100eye(2); WARNING: Closed-loop stability not guaranteed for penalties on outputs. Region: 20/26 mpt_mpqp: 26 regions -> Generated 1 partition. Solution consists of 26 regions making pwa_sincos; probStruct.norm = Inf; probStruct.subopt_lev = 0; probStruct.N = 5; No terminal cost defined. Using the default. Noise polytope empty. Step 5, targets partitions: 1, regions in the previous step 0 dynamic 1 dynamic 2 * Step 4, targets partitions: 2, regions in the previous step 0 dynamic 1 dynamic 2 * Step 3, targets partitions: 4, regions in the previous step 0 dynamic 1 dynamic 2 * Step 2, targets partitions: 6, regions in the previous step 0 dynamic 1 dynamic 2 *** Step 1, targets partitions: 8, regions in the previous step 0 dynamic 1 Removed 16 duplicate regions Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 dynamic 2 Removed 16 duplicate regions Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Solution consists of 178 regions making pwa_sincos; probStruct.norm = Inf; probStruct.subopt_lev = 0; probStruct.N = Inf; Generating the "core" ---Iteration 1--- exploring dynamics 1 exploring dynamics 2 Removed 5 duplicate regions Removed 5 duplicate regions Regions: 10 ---Iteration 2--- exploring dynamics 1 exploring dynamics 2 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Regions: 19 ---Iteration 3--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Regions: 49 ---Iteration 4--- exploring dynamics 1 exploring dynamics 2 Removed 4 duplicate regions Removing overlaps... hull 1/16 hull 5/16 hull 10/16 hull 15/16 hull 16/16 Removed 4 duplicate regions Removing overlaps... hull 1/16 hull 5/16 hull 10/16 hull 15/16 hull 16/16 Regions: 80 ---Iteration 5--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Removed 3 duplicate regions Removing overlaps... hull 1/12 hull 4/12 hull 8/12 hull 12/12 Regions: 30 Core has at least 6 regions but we did not yet fully converge ---Iteration 6--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/10 hull 3/10 hull 6/10 hull 9/10 hull 10/10 Removed 3 duplicate regions Removing overlaps... hull 1/10 hull 3/10 hull 6/10 hull 9/10 hull 10/10 Regions: 30 Core consists of 10 regions Exploring the state-space ---Iteration 1--- exploring dynamics 1 exploring dynamics 2 Removed 8 duplicate regions Removing overlaps... hull 1/11 hull 4/11 hull 8/11 hull 11/11 Removed 8 duplicate regions Removing overlaps... hull 1/11 hull 4/11 hull 8/11 hull 11/11 Regions: 30 Core: 10 regions Ring: 20 regions ---Iteration 2--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/17 hull 6/17 hull 12/17 hull 17/17 Removed 3 duplicate regions Removing overlaps... hull 1/17 hull 6/17 hull 12/17 hull 17/17 Regions: 70 Core: 24 regions Ring: 46 regions ---Iteration 3--- exploring dynamics 1 exploring dynamics 2 Removed 6 duplicate regions Removing overlaps... hull 1/29 hull 10/29 hull 20/29 hull 29/29 Removed 6 duplicate regions Removing overlaps... hull 1/29 hull 10/29 hull 20/29 hull 29/29 Regions: 124 Core: 58 regions Ring: 66 regions ---Iteration 4--- exploring dynamics 1 exploring dynamics 2 Removed 8 duplicate regions Removing overlaps... hull 1/35 hull 12/35 hull 24/35 hull 35/35 Removed 8 duplicate regions Removing overlaps... hull 1/35 hull 12/35 hull 24/35 hull 35/35 Regions: 188 Core: 104 regions Ring: 84 regions ---Iteration 5--- exploring dynamics 1 exploring dynamics 2 Removed 4 duplicate regions Removing overlaps... hull 1/45 hull 15/45 hull 30/45 hull 45/45 Removed 4 duplicate regions Removing overlaps... hull 1/45 hull 15/45 hull 30/45 hull 45/45 Regions: 242 Core: 162 regions Ring: 80 regions ---Iteration 6--- exploring dynamics 1 exploring dynamics 2 Removed 3 duplicate regions Removing overlaps... hull 1/23 hull 8/23 hull 16/23 hull 23/23 Removed 3 duplicate regions Removing overlaps... hull 1/23 hull 8/23 hull 16/23 hull 23/23 Regions: 252 Core: 218 regions Ring: 34 regions ---Iteration 7--- exploring dynamics 1 exploring dynamics 2 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Removing overlaps... hull 1/6 hull 2/6 hull 4/6 hull 6/6 Regions: 252 Core: 246 regions Ring: 6 regions ---Iteration 8--- exploring dynamics 1 exploring dynamics 2 Regions: 252 Core: 252 regions Ring: 0 regions Algorithm finished after 8 iterations Solution consists of 252 regions making pwa_sincos origin included in: 1 2 Computing target set Iteration Number 1 Iteration Number 2 Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 46 hulls to be explored Generating regions dynamics 1, hull 1/23 dynamics 1, hull 8/23 dynamics 1, hull 16/23 dynamics 1, hull 23/23 dynamics 2, hull 1/23 dynamics 2, hull 8/23 dynamics 2, hull 16/23 dynamics 2, hull 23/23 164 regions generated Removing unused regions (backwards)... dynamics 1, hull 23/23 dynamics 1, hull 16/23 dynamics 1, hull 8/23 dynamics 1, hull 1/23 dynamics 2, hull 23/23 dynamics 2, hull 16/23 dynamics 2, hull 8/23 dynamics 2, hull 1/23 Solution consists of 98 regions making pwa_sincos; probStruct.norm = 1; probStruct.N = 1; probStruct.subopt_lev=2; origin included in: 1 2 Computing target set Iteration Number 1 Iteration Number 2 Generating feasible set new horizon: 1 new horizon: 2 new horizon: 3 new horizon: 4 new horizon: 5 new horizon: 6 new horizon: 7 Solving one step problem... Removing overlaps... hull 1/2 hull 2/2 16 regions generated Computing PWQ Lyapunov function... In PWA case, each dynamics has to be associated with exactly one region! Linking dynamics to regions... Computing transition map... mpt_getPWQLyapFct: Found 52 feasible transitions. Solving LMI Problem mpt_getPWQLyapFct: LMI solver found feasible solution. mpt_getPWQLyapFct: Computing lower bound on Lyapunov function... mpt_getPWQLyapFct: Numerical problems with LMI solver but solution is feasible. mpt_getPWQLyapFct: verifying positivity of function... mpt_getPWQLyapFct: verifying decay rate of function... mpt_getPWQLyapFct: Verification showed that function is Lyapunov. mpt_getPWQLyapFct: SUCCESS: Found Piecewise Quadratic Lyapunov function. Lyapunov function found, system is stable Solution consists of 16 regions Adding stabilizing target set constraint... Region: 20/39 mpt_mpqp: 39 regions -> Generated 1 partition. Solution consists of 39 regions
0.1 secs	`cd('/home/mpt/matlab/mpt-utils')`
0.1 secs	`cd('mptdistr/mpt')`
3.8 secs	`rm -rf .hg/`
0.0 secs	`cd('/home/mpt/matlab/mpt-utils')`
0.0 secs	`cd('mptdistr')`
9.2 secs	`find mpt/ -print \| zip -9 mpt-26x_20070307_1451.zip -@`
	adding: mpt/ (stored 0%) adding: mpt/.hgignore (deflated 48%) adding: mpt/.hgtags (deflated 43%) adding: mpt/@mptctrl/ (stored 0%) adding: mpt/@mptctrl/analyze.m (deflated 64%) adding: mpt/@mptctrl/cancompile.m (deflated 63%) adding: mpt/@mptctrl/char.m (deflated 73%) adding: mpt/@mptctrl/display.m (deflated 63%) adding: mpt/@mptctrl/extendx0.m (deflated 65%) adding: mpt/@mptctrl/get.m (deflated 62%) adding: mpt/@mptctrl/horzcat.m (deflated 53%) adding: mpt/@mptctrl/info.m (deflated 69%) adding: mpt/@mptctrl/isexplicit.m (deflated 66%) adding: mpt/@mptctrl/isinvariant.m (deflated 65%) adding: mpt/@mptctrl/isstabilizable.m (deflated 66%) adding: mpt/@mptctrl/length.m (deflated 65%) adding: mpt/@mptctrl/loadobj.m (deflated 63%) adding: mpt/@mptctrl/modify.m (deflated 69%) adding: mpt/@mptctrl/mptctrl.m (deflated 74%) adding: mpt/@mptctrl/plot.m (deflated 62%) adding: mpt/@mptctrl/plotj.m (deflated 62%) adding: mpt/@mptctrl/plotu.m (deflated 62%) adding: mpt/@mptctrl/private/ (stored 0%) adding: mpt/@mptctrl/private/addMLDconstraints.m (deflated 59%) adding: mpt/@mptctrl/private/copyvalidfields.m (deflated 55%) adding: mpt/@mptctrl/runtime.m (deflated 65%) adding: mpt/@mptctrl/set.m (deflated 62%) adding: mpt/@mptctrl/sim.m (deflated 75%) adding: mpt/@mptctrl/simplot.m (deflated 75%) adding: mpt/@mptctrl/subsasgn.m (deflated 53%) adding: mpt/@mptctrl/subsref.m (deflated 63%) adding: mpt/@mptctrl/vertcat.m (deflated 53%) adding: mpt/@polytope/ (stored 0%) adding: mpt/@polytope/Contents.m (deflated 68%) adding: mpt/@polytope/analyticCenter.m (deflated 64%) adding: mpt/@polytope/and.m (deflated 66%) adding: mpt/@polytope/bounding_box.m (deflated 69%) adding: mpt/@polytope/chebyball.m (deflated 63%) adding: mpt/@polytope/dimension.m (deflated 64%) adding: mpt/@polytope/display.m (deflated 63%) adding: mpt/@polytope/distance.m (deflated 81%) adding: mpt/@polytope/distribpoints.m (deflated 63%) adding: mpt/@polytope/dointersect.m (deflated 65%) adding: mpt/@polytope/domain.m 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adding: mpt/solvers/SeDuMi105/fwblkslv.m (deflated 44%) adding: mpt/solvers/SeDuMi105/fwblkslv.mexa64 (deflated 65%) adding: mpt/solvers/SeDuMi105/fwblkslv.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/fwblkslv.mexsol (deflated 59%) adding: mpt/solvers/SeDuMi105/fwdpr1.c (deflated 69%) adding: mpt/solvers/SeDuMi105/fwdpr1.dll (deflated 66%) adding: mpt/solvers/SeDuMi105/fwdpr1.m (deflated 49%) adding: mpt/solvers/SeDuMi105/fwdpr1.mexa64 (deflated 65%) adding: mpt/solvers/SeDuMi105/fwdpr1.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/fwdpr1.mexsol (deflated 64%) adding: mpt/solvers/SeDuMi105/getDAt.c (deflated 73%) adding: mpt/solvers/SeDuMi105/getDAt.m (deflated 44%) adding: mpt/solvers/SeDuMi105/getDAtm.m (deflated 50%) adding: mpt/solvers/SeDuMi105/getada1.c (deflated 69%) adding: mpt/solvers/SeDuMi105/getada1.dll (deflated 63%) adding: mpt/solvers/SeDuMi105/getada1.m (deflated 50%) adding: mpt/solvers/SeDuMi105/getada1.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/getada1.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/getada1.mexsol (deflated 59%) adding: mpt/solvers/SeDuMi105/getada2.c (deflated 70%) adding: mpt/solvers/SeDuMi105/getada2.dll (deflated 66%) adding: mpt/solvers/SeDuMi105/getada2.m (deflated 50%) adding: mpt/solvers/SeDuMi105/getada2.mexa64 (deflated 64%) adding: mpt/solvers/SeDuMi105/getada2.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/getada2.mexsol (deflated 62%) adding: mpt/solvers/SeDuMi105/getada3.c (deflated 72%) adding: mpt/solvers/SeDuMi105/getada3.dll (deflated 56%) adding: mpt/solvers/SeDuMi105/getada3.m (deflated 50%) adding: mpt/solvers/SeDuMi105/getada3.mexa64 (deflated 60%) adding: mpt/solvers/SeDuMi105/getada3.mexglx (deflated 53%) adding: mpt/solvers/SeDuMi105/getada3.mexsol (deflated 57%) adding: mpt/solvers/SeDuMi105/getdense.m (deflated 60%) adding: mpt/solvers/SeDuMi105/getframeq.c (deflated 66%) adding: mpt/solvers/SeDuMi105/getsymbada.m (deflated 51%) adding: mpt/solvers/SeDuMi105/givens.h (deflated 63%) adding: mpt/solvers/SeDuMi105/givensrot.c (deflated 69%) adding: mpt/solvers/SeDuMi105/givensrot.dll (deflated 62%) adding: mpt/solvers/SeDuMi105/givensrot.m (deflated 50%) adding: mpt/solvers/SeDuMi105/givensrot.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/givensrot.mexglx (deflated 57%) adding: mpt/solvers/SeDuMi105/givensrot.mexsol (deflated 62%) adding: mpt/solvers/SeDuMi105/incorder.c (deflated 71%) adding: mpt/solvers/SeDuMi105/incorder.dll (deflated 64%) adding: mpt/solvers/SeDuMi105/incorder.m (deflated 49%) adding: mpt/solvers/SeDuMi105/incorder.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/incorder.mexglx (deflated 57%) adding: mpt/solvers/SeDuMi105/incorder.mexsol (deflated 56%) adding: mpt/solvers/SeDuMi105/invcholfac.c (deflated 69%) adding: mpt/solvers/SeDuMi105/invcholfac.dll (deflated 60%) adding: mpt/solvers/SeDuMi105/invcholfac.m (deflated 50%) adding: mpt/solvers/SeDuMi105/invcholfac.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/invcholfac.mexglx (deflated 56%) adding: mpt/solvers/SeDuMi105/invcholfac.mexsol (deflated 62%) adding: mpt/solvers/SeDuMi105/invjmulK.c (deflated 71%) adding: mpt/solvers/SeDuMi105/invjmulK.m (deflated 60%) adding: mpt/solvers/SeDuMi105/invscaleK.c (deflated 73%) adding: mpt/solvers/SeDuMi105/iswnbr.c (deflated 65%) adding: mpt/solvers/SeDuMi105/iswnbr.dll (deflated 70%) adding: mpt/solvers/SeDuMi105/iswnbr.m (deflated 60%) adding: mpt/solvers/SeDuMi105/iswnbr.mexa64 (deflated 65%) adding: mpt/solvers/SeDuMi105/iswnbr.mexglx (deflated 59%) adding: mpt/solvers/SeDuMi105/iswnbr.mexsol (deflated 55%) adding: mpt/solvers/SeDuMi105/jmulK.c (deflated 74%) adding: mpt/solvers/SeDuMi105/jmulK.m (deflated 67%) adding: mpt/solvers/SeDuMi105/loopPcg.m (deflated 62%) adding: mpt/solvers/SeDuMi105/mJdetd.c (deflated 60%) adding: mpt/solvers/SeDuMi105/makereal.c (deflated 77%) adding: mpt/solvers/SeDuMi105/makereal.dll (deflated 59%) adding: mpt/solvers/SeDuMi105/makereal.m (deflated 50%) adding: mpt/solvers/SeDuMi105/makereal.mexa64 (deflated 59%) adding: mpt/solvers/SeDuMi105/makereal.mexglx (deflated 55%) adding: mpt/solvers/SeDuMi105/makereal.mexsol (deflated 59%) adding: mpt/solvers/SeDuMi105/mat.m (deflated 44%) adding: mpt/solvers/SeDuMi105/maxstep.m (deflated 57%) adding: mpt/solvers/SeDuMi105/optstep.m (deflated 63%) adding: mpt/solvers/SeDuMi105/ordmmd.c (deflated 82%) adding: mpt/solvers/SeDuMi105/ordmmdmex.c (deflated 66%) adding: mpt/solvers/SeDuMi105/ordmmdmex.dll (deflated 56%) adding: mpt/solvers/SeDuMi105/ordmmdmex.m (deflated 43%) adding: mpt/solvers/SeDuMi105/ordmmdmex.mexa64 (deflated 59%) adding: mpt/solvers/SeDuMi105/ordmmdmex.mexglx (deflated 55%) adding: mpt/solvers/SeDuMi105/ordmmdmex.mexsol (deflated 52%) adding: mpt/solvers/SeDuMi105/partitA.c (deflated 66%) adding: mpt/solvers/SeDuMi105/partitA.dll (deflated 66%) adding: mpt/solvers/SeDuMi105/partitA.m (deflated 50%) adding: mpt/solvers/SeDuMi105/partitA.mexa64 (deflated 64%) adding: mpt/solvers/SeDuMi105/partitA.mexglx (deflated 59%) adding: mpt/solvers/SeDuMi105/partitA.mexsol (deflated 62%) adding: mpt/solvers/SeDuMi105/psdeig.c (deflated 73%) adding: mpt/solvers/SeDuMi105/posttransfo.m (deflated 57%) adding: mpt/solvers/SeDuMi105/pretransfo.m (deflated 69%) adding: mpt/solvers/SeDuMi105/psdeig.dll (deflated 66%) adding: mpt/solvers/SeDuMi105/psdeig.m (deflated 50%) adding: mpt/solvers/SeDuMi105/psdeig.mexa64 (deflated 66%) adding: mpt/solvers/SeDuMi105/psdeig.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/psdeig.mexsol (deflated 59%) adding: mpt/solvers/SeDuMi105/psdfactor.c (deflated 71%) adding: mpt/solvers/SeDuMi105/psdfactor.dll (deflated 63%) adding: mpt/solvers/SeDuMi105/psdfactor.m (deflated 50%) adding: mpt/solvers/SeDuMi105/psdfactor.mexa64 (deflated 65%) adding: mpt/solvers/SeDuMi105/psdfactor.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/psdfactor.mexsol (deflated 62%) adding: mpt/solvers/SeDuMi105/psdframeit.c (deflated 66%) adding: mpt/solvers/SeDuMi105/psdframeit.dll (deflated 62%) adding: mpt/solvers/SeDuMi105/psdframeit.mexa64 (deflated 64%) adding: mpt/solvers/SeDuMi105/psdframeit.mexglx (deflated 56%) adding: mpt/solvers/SeDuMi105/psdframeit.mexsol (deflated 62%) adding: mpt/solvers/SeDuMi105/psdinvjmul.c (deflated 70%) adding: mpt/solvers/SeDuMi105/psdinvjmul.dll (deflated 62%) adding: mpt/solvers/SeDuMi105/psdinvjmul.m (deflated 50%) adding: mpt/solvers/SeDuMi105/psdinvjmul.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/psdinvjmul.mexglx (deflated 56%) adding: mpt/solvers/SeDuMi105/psdinvjmul.mexsol (deflated 62%) adding: mpt/solvers/SeDuMi105/psdinvscale.c (deflated 69%) adding: mpt/solvers/SeDuMi105/psdinvscale.dll (deflated 59%) adding: mpt/solvers/SeDuMi105/psdinvscale.mexa64 (deflated 61%) adding: mpt/solvers/SeDuMi105/psdinvscale.mexglx (deflated 55%) adding: mpt/solvers/SeDuMi105/psdinvscale.mexsol (deflated 61%) adding: mpt/solvers/SeDuMi105/psdjmul.c (deflated 69%) adding: mpt/solvers/SeDuMi105/psdjmul.dll (deflated 64%) adding: mpt/solvers/SeDuMi105/psdjmul.m (deflated 50%) adding: mpt/solvers/SeDuMi105/psdjmul.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/psdjmul.mexglx (deflated 59%) adding: mpt/solvers/SeDuMi105/psdjmul.mexsol (deflated 62%) adding: mpt/solvers/SeDuMi105/psdscale.c (deflated 67%) adding: mpt/solvers/SeDuMi105/psdscale.dll (deflated 58%) adding: mpt/solvers/SeDuMi105/psdscale.m (deflated 49%) adding: mpt/solvers/SeDuMi105/psdscale.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/psdscale.mexglx (deflated 56%) adding: mpt/solvers/SeDuMi105/psdscale.mexsol (deflated 62%) adding: mpt/solvers/SeDuMi105/qblkmul.c (deflated 65%) adding: mpt/solvers/SeDuMi105/qblkmul.dll (deflated 75%) adding: mpt/solvers/SeDuMi105/qblkmul.m (deflated 50%) adding: mpt/solvers/SeDuMi105/qblkmul.mexa64 (deflated 69%) adding: mpt/solvers/SeDuMi105/qblkmul.mexglx (deflated 63%) adding: mpt/solvers/SeDuMi105/qblkmul.mexsol (deflated 64%) adding: mpt/solvers/SeDuMi105/qframeit.m (deflated 38%) adding: mpt/solvers/SeDuMi105/qframev.c (deflated 69%) adding: mpt/solvers/SeDuMi105/qframev.dll (deflated 66%) adding: mpt/solvers/SeDuMi105/qframev.mexa64 (deflated 66%) adding: mpt/solvers/SeDuMi105/qframev.mexglx (deflated 59%) adding: mpt/solvers/SeDuMi105/qframev.mexsol (deflated 63%) adding: mpt/solvers/SeDuMi105/qinvjmul.m (deflated 55%) adding: mpt/solvers/SeDuMi105/qinvsqrt.c (deflated 64%) adding: mpt/solvers/SeDuMi105/qinvsqrt.dll (deflated 67%) adding: mpt/solvers/SeDuMi105/qinvsqrt.mexa64 (deflated 66%) adding: mpt/solvers/SeDuMi105/qinvsqrt.mexglx (deflated 60%) adding: mpt/solvers/SeDuMi105/qinvsqrt.mexsol (deflated 64%) adding: mpt/solvers/SeDuMi105/qjmul.m (deflated 56%) adding: mpt/solvers/SeDuMi105/qrK.c (deflated 69%) adding: mpt/solvers/SeDuMi105/qrK.dll (deflated 63%) adding: mpt/solvers/SeDuMi105/qrK.mexa64 (deflated 64%) adding: mpt/solvers/SeDuMi105/qrK.mexglx (deflated 56%) adding: mpt/solvers/SeDuMi105/qrK.mexsol (deflated 60%) adding: mpt/solvers/SeDuMi105/qreshape.c (deflated 74%) adding: mpt/solvers/SeDuMi105/qreshape.dll (deflated 60%) adding: mpt/solvers/SeDuMi105/qreshape.m (deflated 51%) adding: mpt/solvers/SeDuMi105/qreshape.mexa64 (deflated 60%) adding: mpt/solvers/SeDuMi105/qreshape.mexglx (deflated 54%) adding: mpt/solvers/SeDuMi105/qreshape.mexsol (deflated 61%) adding: mpt/solvers/SeDuMi105/qscaleK.c (deflated 68%) adding: mpt/solvers/SeDuMi105/qscaleK.dll (deflated 68%) adding: mpt/solvers/SeDuMi105/qscaleK.mexa64 (deflated 69%) adding: mpt/solvers/SeDuMi105/qscaleK.mexglx (deflated 60%) adding: mpt/solvers/SeDuMi105/qscaleK.mexsol (deflated 63%) adding: mpt/solvers/SeDuMi105/quadadd.c (deflated 65%) adding: mpt/solvers/SeDuMi105/quadadd.dll (deflated 73%) adding: mpt/solvers/SeDuMi105/quadadd.m (deflated 49%) adding: mpt/solvers/SeDuMi105/quadadd.mexa64 (deflated 67%) adding: mpt/solvers/SeDuMi105/quadadd.mexglx (deflated 61%) adding: mpt/solvers/SeDuMi105/quadadd.mexsol (deflated 61%) adding: mpt/solvers/SeDuMi105/read.me (deflated 45%) adding: mpt/solvers/SeDuMi105/reflect.c (deflated 79%) adding: mpt/solvers/SeDuMi105/reflect.h (deflated 74%) adding: mpt/solvers/SeDuMi105/rotlorentz.m (deflated 44%) adding: mpt/solvers/SeDuMi105/sddir.m (deflated 58%) adding: mpt/solvers/SeDuMi105/sdfactor.m (deflated 58%) adding: mpt/solvers/SeDuMi105/sdinit.m (deflated 60%) adding: mpt/solvers/SeDuMi105/tdet.m (deflated 49%) adding: mpt/solvers/SeDuMi105/sdmauxCmp.c (deflated 64%) adding: mpt/solvers/SeDuMi105/sdmauxCone.c (deflated 67%) adding: mpt/solvers/SeDuMi105/sdmauxFill.c (deflated 58%) adding: mpt/solvers/SeDuMi105/sdmauxRdot.c (deflated 70%) adding: mpt/solvers/SeDuMi105/sdmauxScalarmul.c (deflated 78%) adding: mpt/solvers/SeDuMi105/sdmauxTriu.c (deflated 73%) adding: mpt/solvers/SeDuMi105/sdmauxTriudot.c (deflated 56%) adding: mpt/solvers/SeDuMi105/sedumi.m (deflated 67%) adding: mpt/solvers/SeDuMi105/sortnnz.c (deflated 66%) adding: mpt/solvers/SeDuMi105/sortnnz.dll (deflated 66%) adding: mpt/solvers/SeDuMi105/sortnnz.m (deflated 51%) adding: mpt/solvers/SeDuMi105/sortnnz.mexa64 (deflated 64%) adding: mpt/solvers/SeDuMi105/sortnnz.mexglx (deflated 59%) adding: mpt/solvers/SeDuMi105/sortnnz.mexsol (deflated 63%) adding: mpt/solvers/SeDuMi105/sparbwslv.m (deflated 50%) adding: mpt/solvers/SeDuMi105/sparchol.m (deflated 56%) adding: mpt/solvers/SeDuMi105/sparfwslv.m (deflated 52%) adding: mpt/solvers/SeDuMi105/spscale.c (deflated 81%) adding: mpt/solvers/SeDuMi105/sqrtinv.c (deflated 66%) adding: mpt/solvers/SeDuMi105/sqrtinv.dll (deflated 66%) adding: mpt/solvers/SeDuMi105/sqrtinv.m (deflated 50%) adding: mpt/solvers/SeDuMi105/sqrtinv.mexa64 (deflated 64%) adding: mpt/solvers/SeDuMi105/sqrtinv.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/sqrtinv.mexsol (deflated 61%) adding: mpt/solvers/SeDuMi105/startup.m.sample (deflated 47%) adding: mpt/solvers/SeDuMi105/statsK.c (deflated 71%) adding: mpt/solvers/SeDuMi105/statsK.dll (deflated 67%) adding: mpt/solvers/SeDuMi105/statsK.m (deflated 50%) adding: mpt/solvers/SeDuMi105/statsK.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/statsK.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/statsK.mexsol (deflated 62%) adding: mpt/solvers/SeDuMi105/stepdif.m (deflated 70%) adding: mpt/solvers/SeDuMi105/symbbwblk.c (deflated 70%) adding: mpt/solvers/SeDuMi105/symbbwblk.dll (deflated 65%) adding: mpt/solvers/SeDuMi105/symbbwblk.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/symbbwblk.mexglx (deflated 59%) adding: mpt/solvers/SeDuMi105/symbbwblk.mexsol (deflated 58%) adding: mpt/solvers/SeDuMi105/symbchol.m (deflated 57%) adding: mpt/solvers/SeDuMi105/symbcholden.m (deflated 57%) adding: mpt/solvers/SeDuMi105/symbfwblk.c (deflated 73%) adding: mpt/solvers/SeDuMi105/symbfwblk.dll (deflated 64%) adding: mpt/solvers/SeDuMi105/symbfwblk.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/symbfwblk.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/symbfwblk.mexsol (deflated 56%) adding: mpt/solvers/SeDuMi105/symfct.c (deflated 85%) adding: mpt/solvers/SeDuMi105/symfctmex.c (deflated 70%) adding: mpt/solvers/SeDuMi105/symfctmex.dll (deflated 54%) adding: mpt/solvers/SeDuMi105/symfctmex.m (deflated 43%) adding: mpt/solvers/SeDuMi105/symfctmex.mexa64 (deflated 58%) adding: mpt/solvers/SeDuMi105/symfctmex.mexglx (deflated 54%) adding: mpt/solvers/SeDuMi105/symfctmex.mexsol (deflated 49%) adding: mpt/solvers/SeDuMi105/triuaux.c (deflated 82%) adding: mpt/solvers/SeDuMi105/triuaux.h (deflated 82%) adding: mpt/solvers/SeDuMi105/triumtriu.c (deflated 69%) adding: mpt/solvers/SeDuMi105/triumtriu.dll (deflated 65%) adding: mpt/solvers/SeDuMi105/triumtriu.m (deflated 50%) adding: mpt/solvers/SeDuMi105/triumtriu.mexa64 (deflated 67%) adding: mpt/solvers/SeDuMi105/triumtriu.mexglx (deflated 59%) adding: mpt/solvers/SeDuMi105/triumtriu.mexsol (deflated 65%) adding: mpt/solvers/SeDuMi105/trydif.m (deflated 51%) adding: mpt/solvers/SeDuMi105/updtransfo.m (deflated 61%) adding: mpt/solvers/SeDuMi105/urotorder.c (deflated 77%) adding: mpt/solvers/SeDuMi105/urotorder.dll (deflated 60%) adding: mpt/solvers/SeDuMi105/urotorder.m (deflated 49%) adding: mpt/solvers/SeDuMi105/urotorder.mexa64 (deflated 62%) adding: mpt/solvers/SeDuMi105/vec.m (deflated 42%) adding: mpt/solvers/SeDuMi105/urotorder.mexglx (deflated 55%) adding: mpt/solvers/SeDuMi105/urotorder.mexsol (deflated 59%) adding: mpt/solvers/SeDuMi105/veccomplex.m (deflated 57%) adding: mpt/solvers/SeDuMi105/vecreal.m (deflated 64%) adding: mpt/solvers/SeDuMi105/vecsym.c (deflated 69%) adding: mpt/solvers/SeDuMi105/vecsym.dll (deflated 67%) adding: mpt/solvers/SeDuMi105/vecsym.m (deflated 50%) adding: mpt/solvers/SeDuMi105/vecsym.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/vecsym.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/vecsym.mexsol (deflated 60%) adding: mpt/solvers/SeDuMi105/vectril.c (deflated 76%) adding: mpt/solvers/SeDuMi105/vectril.dll (deflated 58%) adding: mpt/solvers/SeDuMi105/vectril.m (deflated 49%) adding: mpt/solvers/SeDuMi105/vectril.mexa64 (deflated 60%) adding: mpt/solvers/SeDuMi105/vectril.mexglx (deflated 55%) adding: mpt/solvers/SeDuMi105/vectril.mexsol (deflated 61%) adding: mpt/solvers/SeDuMi105/whichcpx.c (deflated 71%) adding: mpt/solvers/SeDuMi105/whichcpx.dll (deflated 63%) adding: mpt/solvers/SeDuMi105/whichcpx.m (deflated 50%) adding: mpt/solvers/SeDuMi105/whichcpx.mexa64 (deflated 63%) adding: mpt/solvers/SeDuMi105/whichcpx.mexglx (deflated 58%) adding: mpt/solvers/SeDuMi105/whichcpx.mexsol (deflated 61%) adding: mpt/solvers/SeDuMi105/widelen.m (deflated 57%) adding: mpt/solvers/SeDuMi105/wrapPcg.m (deflated 60%) adding: mpt/solvers/SeDuMi105/wregion.m (deflated 63%) adding: mpt/solvers/cddmex/ (stored 0%) adding: mpt/solvers/cddmex/cddmex.c (deflated 79%) adding: mpt/solvers/cddmex/cddmex.dll (deflated 55%) adding: mpt/solvers/cddmex/cddmex.m (deflated 61%) adding: mpt/solvers/cddmex/cddmex.mexa64 (deflated 55%) adding: mpt/solvers/cddmex/cddmex.mexglx (deflated 58%) adding: mpt/solvers/cddmex/cddmex.mexmac (deflated 62%) adding: mpt/solvers/cddmex/cddmex.mexsol (deflated 61%) adding: mpt/solvers/cddmex/readme.txt (deflated 63%) adding: mpt/solvers/clp/ (stored 0%) adding: mpt/solvers/clp/clp.m (deflated 66%) adding: mpt/solvers/clp/mexclp.cpp (deflated 70%) adding: mpt/solvers/clp/mexclp.dll (deflated 49%) adding: mpt/solvers/esp/ (stored 0%) adding: mpt/solvers/esp/H2normalize.m (deflated 37%) adding: mpt/solvers/esp/a2s.m (deflated 22%) adding: mpt/solvers/esp/esp.m (deflated 48%) adding: mpt/solvers/esp/esp_1D.m (deflated 62%) adding: mpt/solvers/esp/esp_LP.m (deflated 48%) adding: mpt/solvers/esp/esp_adj.m (deflated 47%) adding: mpt/solvers/esp/esp_affhull.m (deflated 49%) adding: mpt/solvers/esp/esp_affhull_checkall.m (deflated 37%) adding: mpt/solvers/esp/esp_affhull_one.m (deflated 42%) adding: mpt/solvers/esp/esp_dual_make_unique.m (deflated 52%) adding: mpt/solvers/esp/esp_fulldim.m (deflated 58%) adding: mpt/solvers/esp/esp_helper.m (deflated 52%) adding: mpt/solvers/esp/esp_innerball.m (deflated 48%) adding: mpt/solvers/esp/esp_isdegen.m (deflated 60%) adding: mpt/solvers/esp/esp_null.m (deflated 42%) adding: mpt/solvers/esp/esp_preptable.m (deflated 30%) adding: mpt/solvers/esp/esp_projaff.m (deflated 49%) adding: mpt/solvers/esp/esp_rdg.m (deflated 62%) adding: mpt/solvers/esp/esp_setdiff.m (deflated 49%) adding: mpt/solvers/esp/esp_setdiff_c.c (deflated 52%) adding: mpt/solvers/esp/esp_shift.m (deflated 30%) adding: mpt/solvers/esp/esp_setdiff_c.dll (deflated 72%) adding: mpt/solvers/esp/esp_setdiff_c.mexa64 (deflated 68%) adding: mpt/solvers/esp/esp_setdiff_c.mexglx (deflated 62%) adding: mpt/solvers/esp/esp_setdiff_c.mexmac (deflated 84%) adding: mpt/solvers/esp/esp_setdiff_c.mexsol (deflated 63%) adding: mpt/solvers/esp/esp_shoot.m (deflated 49%) adding: mpt/solvers/esp/esp_table.m (deflated 61%) adding: mpt/solvers/esp/mpt_esp.m (deflated 26%) adding: mpt/solvers/esp/polydim.m (deflated 25%) adding: mpt/solvers/espresso/ (stored 0%) adding: mpt/solvers/espresso/espresso.exe (deflated 49%) adding: mpt/solvers/espresso/espresso.linux (deflated 56%) adding: mpt/solvers/fourier/ (stored 0%) adding: mpt/solvers/fourier/fourier.cc (deflated 65%) adding: mpt/solvers/fourier/fourier.dll (deflated 50%) adding: mpt/solvers/fourier/fourier.h (deflated 58%) adding: mpt/solvers/fourier/fourier.m (deflated 53%) adding: mpt/solvers/fourier/fourier.mexa64 (deflated 60%) adding: mpt/solvers/fourier/fourier.mexglx (deflated 61%) adding: mpt/solvers/fourier/fourier.mexmac (deflated 61%) adding: mpt/solvers/fourier/fourier.mexsol (deflated 60%) adding: mpt/solvers/fourier/makelinux.m (deflated 33%) adding: mpt/solvers/fourier/makewin.m (deflated 47%) adding: mpt/solvers/fourier/matlab_driver.cc (deflated 51%) adding: mpt/solvers/fourier/readme.txt (deflated 52%) adding: mpt/solvers/fourier/support.cc (deflated 70%) adding: mpt/solvers/glpkmex/ (stored 0%) adding: mpt/solvers/glpkmex/COPYING (deflated 62%) adding: mpt/solvers/glpkmex/ChangeLog (deflated 57%) adding: mpt/solvers/glpkmex/INSTALL (deflated 59%) adding: mpt/solvers/glpkmex/glpkfun.h (deflated 63%) adding: mpt/solvers/glpkmex/glpkmex.c (deflated 73%) adding: mpt/solvers/glpkmex/glpkmex.dll (deflated 54%) adding: mpt/solvers/glpkmex/glpkmex.m (deflated 63%) adding: mpt/solvers/glpkmex/glpkmex.mexglx (deflated 55%) adding: mpt/solvers/glpkmex/glpkmex.mexmac (deflated 63%) adding: mpt/solvers/glpkmex/glpkmex.mexsol (deflated 71%) adding: mpt/solvers/glpkmex/glpkparams.m (deflated 71%) adding: mpt/solvers/glpkmex/glpksets.h (deflated 54%) adding: mpt/solvers/glpkmex/glpksparse.m (deflated 35%) adding: mpt/solvers/glpkmex/glpktest1.m (deflated 32%) adding: mpt/solvers/glpkmex/glpktest2.m (deflated 50%) adding: mpt/solvers/glpkmex/makeglpk.fig (stored 0%) adding: mpt/solvers/glpkmex/makeglpk.m (deflated 76%) adding: mpt/solvers/glpkmex/makeglpkcmd.m (deflated 45%) adding: mpt/solvers/hysdel/ (stored 0%) adding: mpt/solvers/hysdel/hylink.m (deflated 58%) adding: mpt/solvers/hysdel/hysdel.exe (deflated 70%) adding: mpt/solvers/hysdel/hysdel.linux (deflated 70%) adding: mpt/solvers/hysdel/hysdel.m (deflated 55%) adding: mpt/solvers/hysdel/hysdel.sol (deflated 81%) adding: mpt/solvers/mpt_mplp.m (deflated 67%) adding: mpt/solvers/mpt_mpmilp.m (deflated 64%) adding: mpt/solvers/mpt_mpmiqp.m (deflated 65%) adding: mpt/solvers/mpt_mpqp.m (deflated 78%) adding: mpt/solvers/mpt_solveLP.m (deflated 65%) adding: mpt/solvers/mpt_solveMILP.m (deflated 71%) adding: mpt/solvers/mpt_solveMIQP.m (deflated 70%) adding: mpt/solvers/mpt_solveQP.m (deflated 77%) adding: mpt/yalmip/ (stored 0%) adding: mpt/yalmip/@sdpvar/ (stored 0%) adding: mpt/yalmip/@sdpvar/abs.m (deflated 64%) adding: mpt/yalmip/@sdpvar/and.m (deflated 61%) adding: mpt/yalmip/@sdpvar/any.m (deflated 21%) adding: mpt/yalmip/@sdpvar/assign.m (deflated 55%) adding: mpt/yalmip/@sdpvar/binary.m (deflated 49%) adding: mpt/yalmip/@sdpvar/blkdiag.m (deflated 59%) adding: mpt/yalmip/@sdpvar/bounds.m (deflated 54%) adding: mpt/yalmip/@sdpvar/brutepersp.m (deflated 32%) adding: mpt/yalmip/@sdpvar/cat.m (deflated 33%) adding: mpt/yalmip/@sdpvar/ceil.m (deflated 55%) adding: mpt/yalmip/@sdpvar/circshift.m (deflated 34%) adding: mpt/yalmip/@sdpvar/clean.m (deflated 54%) adding: mpt/yalmip/@sdpvar/clearsdpvar.m (deflated 40%) adding: mpt/yalmip/@sdpvar/cone.m (deflated 47%) adding: mpt/yalmip/@sdpvar/conj.m (deflated 21%) adding: mpt/yalmip/@sdpvar/Contents.m (deflated 74%) adding: mpt/yalmip/@sdpvar/conv.m (deflated 40%) adding: mpt/yalmip/@sdpvar/cos.m (deflated 57%) adding: mpt/yalmip/@sdpvar/ctranspose.m (deflated 36%) adding: mpt/yalmip/@sdpvar/cut.m (deflated 45%) adding: mpt/yalmip/@sdpvar/degreduce.m (deflated 44%) adding: mpt/yalmip/@sdpvar/degree.m (deflated 61%) adding: mpt/yalmip/@sdpvar/depends.m (deflated 40%) adding: mpt/yalmip/@sdpvar/det.m (deflated 57%) adding: mpt/yalmip/@sdpvar/diag.m (deflated 46%) adding: mpt/yalmip/@sdpvar/diff.m (deflated 64%) adding: mpt/yalmip/@sdpvar/display.m (deflated 82%) adding: mpt/yalmip/@sdpvar/domain.m (deflated 56%) adding: mpt/yalmip/@sdpvar/double.m (deflated 80%) adding: mpt/yalmip/@sdpvar/eig.m (deflated 53%) adding: mpt/yalmip/@sdpvar/eliminateBinary.m (deflated 48%) adding: mpt/yalmip/@sdpvar/end.m (deflated 46%) adding: mpt/yalmip/@sdpvar/eq.m (deflated 29%) adding: mpt/yalmip/@sdpvar/exp.m (deflated 68%) adding: mpt/yalmip/@sdpvar/expanded.m (deflated 42%) adding: mpt/yalmip/@sdpvar/exponents.m (deflated 29%) adding: mpt/yalmip/@sdpvar/extractkyp.m (deflated 32%) adding: mpt/yalmip/@sdpvar/false.m (deflated 43%) adding: mpt/yalmip/@sdpvar/find.m (deflated 20%) adding: mpt/yalmip/@sdpvar/fliplr.m (deflated 26%) adding: mpt/yalmip/@sdpvar/flipud.m (deflated 26%) adding: mpt/yalmip/@sdpvar/floor.m (deflated 54%) adding: mpt/yalmip/@sdpvar/ge.m (deflated 29%) adding: mpt/yalmip/@sdpvar/generateAB.m (deflated 51%) adding: mpt/yalmip/@sdpvar/geomean.m (deflated 69%) adding: mpt/yalmip/@sdpvar/getbase.m (deflated 20%) adding: mpt/yalmip/@sdpvar/getbasematrix.m (deflated 40%) adding: mpt/yalmip/@sdpvar/getbasematrixwithoutcheck.m (deflated 24%) adding: mpt/yalmip/@sdpvar/getbasevectorwithoutcheck.m (deflated 22%) adding: mpt/yalmip/@sdpvar/gethackflag.m (deflated 18%) adding: mpt/yalmip/@sdpvar/getsosrank.m (deflated 21%) adding: mpt/yalmip/@sdpvar/getvariables.m (deflated 62%) adding: mpt/yalmip/@sdpvar/getvariablesvector.m (deflated 39%) adding: mpt/yalmip/@sdpvar/gt.m (deflated 29%) adding: mpt/yalmip/@sdpvar/hankel.m (deflated 35%) adding: mpt/yalmip/@sdpvar/homogenize.m (deflated 50%) adding: mpt/yalmip/@sdpvar/horzcat.m (deflated 61%) adding: mpt/yalmip/@sdpvar/imag.m (deflated 53%) adding: mpt/yalmip/@sdpvar/imag2real.m (deflated 53%) adding: mpt/yalmip/@sdpvar/integer.m (deflated 50%) adding: mpt/yalmip/@sdpvar/is.m (deflated 74%) adding: mpt/yalmip/@sdpvar/isconvex.m (deflated 51%) adding: mpt/yalmip/@sdpvar/isequal.m (deflated 24%) adding: mpt/yalmip/@sdpvar/ishermitian.m (deflated 50%) adding: mpt/yalmip/@sdpvar/isinteger.m (deflated 22%) adding: mpt/yalmip/@sdpvar/isinterval.m (deflated 14%) adding: mpt/yalmip/@sdpvar/islinear.m (deflated 43%) adding: mpt/yalmip/@sdpvar/ismember.m (deflated 54%) adding: mpt/yalmip/@sdpvar/ismember_internal.m (deflated 66%) adding: mpt/yalmip/@sdpvar/isreal.m (deflated 14%) adding: mpt/yalmip/@sdpvar/issymmetric.m (deflated 37%) adding: mpt/yalmip/@sdpvar/jacobian.m (deflated 41%) adding: mpt/yalmip/@sdpvar/kron.m (deflated 63%) adding: mpt/yalmip/@sdpvar/kyp.m (deflated 48%) adding: mpt/yalmip/@sdpvar/le.m (deflated 29%) adding: mpt/yalmip/@sdpvar/length.m (deflated 7%) adding: mpt/yalmip/@sdpvar/lmior.m (deflated 58%) adding: mpt/yalmip/@sdpvar/lmixor.m (deflated 58%) adding: mpt/yalmip/@sdpvar/loadobj.m (deflated 72%) adding: mpt/yalmip/@sdpvar/log.m (deflated 60%) adding: mpt/yalmip/@sdpvar/log10.m (deflated 60%) adding: mpt/yalmip/@sdpvar/log2.m (deflated 60%) adding: mpt/yalmip/@sdpvar/lt.m (deflated 30%) adding: mpt/yalmip/@sdpvar/max.m (deflated 65%) adding: mpt/yalmip/@sdpvar/median.m (deflated 70%) adding: mpt/yalmip/@sdpvar/mid.m (deflated 22%) adding: mpt/yalmip/@sdpvar/min.m (deflated 62%) adding: mpt/yalmip/@sdpvar/minus.m (deflated 74%) adding: mpt/yalmip/@sdpvar/mldivide.m (deflated 47%) adding: mpt/yalmip/@sdpvar/model.m (deflated 62%) adding: mpt/yalmip/@sdpvar/mpower.m (deflated 68%) adding: mpt/yalmip/@sdpvar/mrdivide.m (deflated 56%) adding: mpt/yalmip/@sdpvar/mtimes.m (deflated 78%) adding: mpt/yalmip/@sdpvar/ne.m (deflated 45%) adding: mpt/yalmip/@sdpvar/nnz.m (deflated 56%) adding: mpt/yalmip/@sdpvar/nonlineartocone.m (deflated 61%) adding: mpt/yalmip/@sdpvar/norm.m (deflated 79%) adding: mpt/yalmip/@sdpvar/not.m (deflated 33%) adding: mpt/yalmip/@sdpvar/numel.m (deflated 11%) adding: mpt/yalmip/@sdpvar/or.m (deflated 62%) adding: mpt/yalmip/@sdpvar/parametric.m (deflated 42%) adding: mpt/yalmip/@sdpvar/permute.m (deflated 25%) adding: mpt/yalmip/@sdpvar/plot.m (deflated 75%) adding: mpt/yalmip/@sdpvar/plus.m (deflated 77%) adding: mpt/yalmip/@sdpvar/poly.m (deflated 39%) adding: mpt/yalmip/@sdpvar/polynomial.m (deflated 42%) adding: mpt/yalmip/@sdpvar/pow10.m (deflated 60%) adding: mpt/yalmip/@sdpvar/pow2.m (deflated 60%) adding: mpt/yalmip/@sdpvar/power.m (deflated 66%) adding: mpt/yalmip/@sdpvar/prod.m (deflated 57%) adding: mpt/yalmip/@sdpvar/pwa.m (deflated 62%) adding: mpt/yalmip/@sdpvar/pwadynamics.m (deflated 55%) adding: mpt/yalmip/@sdpvar/quaddecomp.m (deflated 71%) adding: mpt/yalmip/@sdpvar/rad.m (deflated 22%) adding: mpt/yalmip/@sdpvar/rank.m (deflated 49%) adding: mpt/yalmip/@sdpvar/rcone.m (deflated 41%) adding: mpt/yalmip/@sdpvar/rdivide.m (deflated 54%) adding: mpt/yalmip/@sdpvar/real.m (deflated 51%) adding: mpt/yalmip/@sdpvar/recovermonoms.m (deflated 70%) adding: mpt/yalmip/@sdpvar/relaxdouble.m (deflated 45%) adding: mpt/yalmip/@sdpvar/replace.m (deflated 65%) adding: mpt/yalmip/@sdpvar/repmat.m (deflated 55%) adding: mpt/yalmip/@sdpvar/reshape.m (deflated 49%) adding: mpt/yalmip/@sdpvar/rot90.m (deflated 29%) adding: mpt/yalmip/@sdpvar/saveobj.m (deflated 31%) adding: mpt/yalmip/@sdpvar/sdp2mat.m (deflated 22%) adding: mpt/yalmip/@sdpvar/sdpvar.m (deflated 82%) adding: mpt/yalmip/@sdpvar/sdpvarfun.m (deflated 49%) adding: mpt/yalmip/@sdpvar/see.m (deflated 63%) adding: mpt/yalmip/@sdpvar/set.m (deflated 59%) adding: mpt/yalmip/@sdpvar/sethackflag.m (deflated 19%) adding: mpt/yalmip/@sdpvar/setsdpvar.m (deflated 48%) adding: mpt/yalmip/@sdpvar/setsos.m (deflated 25%) adding: mpt/yalmip/@sdpvar/shiftdim.m (deflated 35%) adding: mpt/yalmip/@sdpvar/sign.m (deflated 62%) adding: mpt/yalmip/@sdpvar/simplify.m (deflated 51%) adding: mpt/yalmip/@sdpvar/sin.m (deflated 56%) adding: mpt/yalmip/@sdpvar/size.m (deflated 51%) adding: mpt/yalmip/@sdpvar/sort.m (deflated 59%) adding: mpt/yalmip/@sdpvar/sos.m (deflated 39%) adding: mpt/yalmip/@sdpvar/sosd.m (deflated 35%) adding: mpt/yalmip/@sdpvar/sparse.m (deflated 48%) adding: mpt/yalmip/@sdpvar/spy.m (deflated 23%) adding: mpt/yalmip/@sdpvar/sqr.m (stored 0%) adding: mpt/yalmip/@sdpvar/sqrt.m (deflated 55%) adding: mpt/yalmip/@sdpvar/sqrtm.m (deflated 53%) adding: mpt/yalmip/@sdpvar/sqrtm_internal.m (deflated 59%) adding: mpt/yalmip/@sdpvar/stackcell.m (deflated 60%) adding: mpt/yalmip/@sdpvar/subsasgn.m (deflated 78%) adding: mpt/yalmip/@sdpvar/subsref.m (deflated 70%) adding: mpt/yalmip/@sdpvar/sum.m (deflated 56%) adding: mpt/yalmip/@sdpvar/sumsum.m (deflated 22%) adding: mpt/yalmip/@sdpvar/sym.m (deflated 66%) adding: mpt/yalmip/@sdpvar/tan.m (deflated 57%) adding: mpt/yalmip/@sdpvar/times.m (deflated 73%) adding: mpt/yalmip/@sdpvar/toeplitz.m (deflated 41%) adding: mpt/yalmip/@sdpvar/trace.m (deflated 59%) adding: mpt/yalmip/@sdpvar/transpose.m (deflated 30%) adding: mpt/yalmip/@sdpvar/tril.m (deflated 50%) adding: mpt/yalmip/@sdpvar/triu.m (deflated 54%) adding: mpt/yalmip/@sdpvar/true.m (deflated 44%) adding: mpt/yalmip/@sdpvar/uminus.m (deflated 35%) adding: mpt/yalmip/@sdpvar/uncertain.m (deflated 44%) adding: mpt/yalmip/@sdpvar/unique.m (deflated 36%) adding: mpt/yalmip/@sdpvar/uplus.m (deflated 25%) adding: mpt/yalmip/@sdpvar/var.m (deflated 37%) adding: mpt/yalmip/@sdpvar/vec_replace.m (deflated 61%) adding: mpt/yalmip/@sdpvar/vertcat.m (deflated 57%) adding: mpt/yalmip/@sdpvar/xor.m (deflated 60%) adding: mpt/yalmip/Contents.m (deflated 61%) adding: mpt/yalmip/demos/ (stored 0%) adding: mpt/yalmip/demos/basicsex.m (deflated 66%) adding: mpt/yalmip/demos/bmiex1.m (deflated 46%) adding: mpt/yalmip/demos/bmiex2.m (deflated 67%) adding: mpt/yalmip/demos/bmiex3.m (deflated 58%) adding: mpt/yalmip/demos/complexex.m (deflated 67%) adding: mpt/yalmip/demos/decaybmiex.m (deflated 50%) 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0.0 secs	`touch -t 200703071451 mpt-26x_20070307_1451.zip`
0.0 secs	`mv mpt-26x_20070307_1451.zip /home/mpt/public_html/daily/builds/`
0.0 secs	`cd('/home/mpt/matlab/mpt-utils')`
0.0 secs	`build process finished at 07-Mar-2007 15:41:45`
0.0 secs	`build took 2989.4 seconds`