Home > mpt > extras > auxiliary > mpt_prepareDU.m

# mpt_prepareDU

## PURPOSE

MPT_PREPAREDU Extends system and problem matrices to deal with deltaU constraints

## SYNOPSIS

function [sysStruct, probStruct] = mpt_prepareDU(sysStruct, probStruct)

## DESCRIPTION

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

[sysStruct, probStruct] = mpt_prepareDU(sysStruct, probStruct)

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DESCRIPTION
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Extends system and problem matrices to deal with deltaU constraints in
closed-loop

Introduce new state vector z(k) = [x(k) u(k-1)]
The new input is now delta u, i.e., du(k)=u(k)-u(k-1).
Therefore the state update equation can now be written as:

[A B]         [B]
z(k+1)= [0 I] z(k) +  [I] du(k)

internal function

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INPUT
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sysStruct   - system definition
probStruct  - problem definition

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OUTPUT
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sysStruct   - system definition with tracking
probStruct  - problem definition with tracking
.Rdu   - additional field in probStruct; weight on the delta u;
by default, this is identical to the weight on u;```

## CROSS-REFERENCE INFORMATION

This function calls:
• length LENGTH Returns number of regions over which the explicit control law is defined
• double DOUBLE Function used to access internal properties of the given polytope
• end END Returns the last element in a given polytope array
• isfulldim ISFULLDIM Checks if a polytope is full dimensional
• length LENGTH Returns number of elements in a polytope array
• polytope POLYTOPE Default constructor for the POLYTOPE object
• size SIZE Returns size of the given polytope object
• mpt_sysStructInfo MPT_SYSSTRUCTINFO Returns information about system structure
• mpt_verifyProbStruct MPT_VERIFYPROBSTRUCT Verifies the probStruct structure
• mpt_verifySysStruct MPT_VERIFYSYSSTRUCT Verifies the sysStruct structure
This function is called by:
• mptctrl MPTCTRL Constructor for the MPT controller object
• mpt_control MPT_CONTROL Main control routine. Computes explicit controller for a given problem

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