Home > mpt > extras > control > mpt_mixedMinTime.m

# mpt_mixedMinTime

## PURPOSE

MPT_MIXEDMINTIME Computes minimum time controller for systems with discrete and continuous inputs

## SYNOPSIS

function ctrlStruct=mpt_mixedMinTime(sysStruct,probStruct,Options)

## DESCRIPTION

```MPT_MIXEDMINTIME Computes minimum time controller for systems with discrete and continuous inputs

ctrlStruct = mpt_mixedMinTimePWA(sysStruct,probStruct)
ctrlStruct = mpt_mixedMinTimePWA(sysStruct,probStruct,Options)

---------------------------------------------------------------------------
DESCRIPTION
---------------------------------------------------------------------------
Computes the solution of a minimum-time problem for a given PWA system
x(k+1) = A_i x(k) + B_i u(k) + f_i
y(k)   = C_i x(k) + D_i u(k) + g_i
for i such that guardX(i) x(k) + guardU(i) u(k) <= guardC(i)
s.t.
(ymin, ymax, umin, umax, dumin, dumax)

Inputs may be discrete or continuous, as defined in sysStruct.Uset

---------------------------------------------------------------------------
INPUT
---------------------------------------------------------------------------
sysStruct           - System structure in the sysStruct format
probStruct          - Problem structure in the probStruct format

Options.iterative=0
Use reduced-switching policy (0=no, 1=yes)
Options.maxiterations=100
Maximum number of iterations
Options.verbose
Level of verbosity (see help mpt_init for more details)
Options.PWA_savemode=0
Saving intermediate results in fesibility iterations.
Options.PWA_warmend=0
Loads an intermediate result and finishes the controller calculations.
(without trying to extend the feasible region).
Loads intermediate result from iteration n. (0=Uses last iteration.)
Options.PWA_savefile='PWA_save'
Specifies filename prefix for result files.
Filename is appended with iteration number.
Options.PWA_savefilelast='PWA_lastsave'
Specifies filename for info about last sucessful iteration.
Options.PWA_warmstart=0 (Not implemented yet)
Loads intermediate result (latest or n), and continues feasibility iteration.
Options.PWA_maxTsetTime=Inf
Interrupts the feasibility iterations after specified time, and continues with
current feasible set.

Note: If Options is missing or some of the fields are not defined, the default
values from mptOptions will be used

---------------------------------------------------------------------------
OUTPUT
---------------------------------------------------------------------------
ctrlStruct    - Controller structure

## CROSS-REFERENCE INFORMATION

This function calls:
• length LENGTH Returns number of regions over which the explicit control law is defined
• chebyball CHEBYBALL Computes center and radius of the largest ball inscribed in a polytope
• dimension DIMENSION Returns dimension of the given polytope
• double DOUBLE Function used to access internal properties of the given polytope
• end END Returns the last element in a given polytope array
• fliplr FLIPLR Flips array of polytopes
• isfulldim ISFULLDIM Checks if a polytope is full dimensional
• isminrep ISMINREP Checks if a given polytope is in minimal representation
• le LE Checks if polytope P is a subset of polytope Q
• length LENGTH Returns number of elements in a polytope array
• minus MINUS Pontryagin difference
• polytope POLYTOPE Default constructor for the POLYTOPE object
• projection PROJECTION Projection of a polytope or a polytope array
• reduce REDUCE Reduces the polytope by removing redundant inequalities
• reduceunion REDUCEUNION Removes redundant elements from a polytope array
• regiondiff REGIONDIFF Region difference
• regiondiffXU REGIONDIFFXU Computes region difference in lifted XU space
• size SIZE Returns size of the given polytope object
• union UNION convex union computation
• mpt_computePWATset MPT_COMPUTEPWATSET Computes a stabilizing control invariant set (+ controllers) around the origin
• mpt_allcombs MPT_ALLCOMBS All combinations of discrete-valued inputs
• mpt_error MPT_ERROR Function called if MPT toolbox is not initialized
• mpt_isnoise MPT_ISNOISE Checks if noise object is not empty
• mpt_lti2pwa MPT_LTI2PWA Converts an LTI system to a PWA system
• mpt_sysStructInfo MPT_SYSSTRUCTINFO Returns information about system structure
• mpt_verifySysProb MPT_VERIFYSYSPROB Verifies system and problem structures
• mpt_constructMatrices MPT_CONSTRUCTMATRICES Constructs matrices for the finite time constrained optimal control problem
• mpt_iterative MPT_ITERATIVE Computes a time-optimal or low-complexity explicit controller for LTI systems
• mpt_mplp MPT_MPLP Explicitly solves the given linear program (LP)
• mpt_mpqp MPT_MPQP Explicitly solves the given quadratic program (QP)
This function is called by:
• mpt_control MPT_CONTROL Main control routine. Computes explicit controller for a given problem

Generated on Thu 30-Mar-2006 10:26:47 by m2html © 2003