MPT 2.0.4 Changelog
Fixed a bug in extreme.m
Computation of extreme points for
cyclic polytopes
was sometimes aborted with an error due to a bug in
extreme.m.
A fix is
available here. The file should be placed to the
mpt/@polytope directory
of your MPT installation.
Fixed a bug in mpt_iterativePWA.m
Computation of minimum-time controllers for PWA systems was sometimes
aborted with an error if (A) target set in
probStruct.Tset was defined
and (B) no dynamics contains the origin. This is now fixed and the computation of
minimum-time controllers goes on correctly. As a side effect,
probStruct.P_N = probStruct.Q is assumed if user-defined
target set is provided. This is to avoid problems with LQR computation for
certain systems.
A fix is
available here. The file should be placed to the
mpt/extras/control directory
of your MPT installation.
Fixed a bug in mpt_plotTimeTrajectory.m
For cases of output-reference regulation (
probStruct.yref given) the
function was showing ghost legends with no corresponding labels.
A fix is
available here. The file should be placed to the
mpt/extras/graphics directory of your MPT installation.
Updated YALMIP to R20050915
MPT 2.0.4 now includes the latest release of YALMIP which fixes following two issues:
-
Resolved a bug introduced in R20050720 causing symmetry reduction of sum
of squares problem to be skipped in some cases.
- Resolved a bug which caused
x'*x to act as
x.'*x on complex valued column-vectors x.
An updated version of YALMIP can be downloaded
here.
Acknowledgment
We are grateful to the following people for interesting comments and
feedback:
Blazej Cichy,
Johan Löfberg.
