writeAcadoFilesReachsetMPC

Generate files for ACADO Toolbox for the Reachset Model Predictive Control algorithm

Contents

Syntax

writeAcadoFilesReachsetMPC(path,benchmark,Opts)

Description

This function generates and compiles the files containing the system dynamics, which are needed for solving optimal control problems with the ACADO toolbox

Input Arguments

path

path of the root directory for the Convex Interpolation Control Algorithm

benchmark

name of the selected benchmark

Opts

a structure containing following options

.nx

number of system states

.nu

number of system inputs

.N

number of time steps for the prediction horizon. Prediction horizon: Opts.N * Opts.dT [{10} / positive integer]

.termReg

terminal region around the steady state xf (class: mptPolytope)

.reachSteps

number of reachability steps during one time step [{10} / positive integer]

See Also

acadoConvertDynamics, writeAcadoFiled


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