initOptProblem

initialize optimal control problem for linear MPC

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

[opt,optInit] = initOptProblem(Opts)

Description

This function constructs the optimal control problem for linear model predictive control as descibed in Sec. IV.C in [1] using the YALMIP optimizer.

Input Arguments

Opts

a structure containing the algorithm settings

.N

number of time-steps until safe terminal set is reached starting in safe initial set

.K

feedback matrix

.xf

desired final state

.termReg

terminal region

.XKX

feedback matrix for the extended system dynamics

.taylor

struct containing the propagation matrices for the linear system

.U

input set

.X

set of state constraints

.nx

number of states

.nx

number of inputs

Output Arguments

opt

resulting YALMIP optimizer object

optInit

resulting YALMIP optimizer object for the initial optimal control problem

References

*[1] F. Gruber and M. Althoff, “Scalable robust model predictive control for linear sampled-data systems," CDC 2019

opt	resulting YALMIP optimizer object
optInit	resulting YALMIP optimizer object for the initial optimal control problem