writeFminconFilesReachsetMPC

Generate files for MPC optimal control using fmincon

Contents

Syntax

Description

This function generates the cost function and the constraints for the optimal control problems for Model Predictive Control as well as the corresponding derivatives using symbolic computing.

Input Arguments

path	path to the root directory of the control algorithm
benchmark	name of the selected benchmark
Opts	a structure containing following options .nx number of system states .nu number of system inputs .nw number of disturbances .N number of time steps .Ninter number of intermediate time steps .termReg struct storing the properties of the terminal region polytope

See Also

reachsetMPC, writeAcadoFilesMPC

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Published with MATLAB® R2022a