Introduced the implicit Tube MPC design enabling handling also the large-scale uncertain LTI systems.
Fixed bugs:
none
Bugs and known limitations:
The current version of MPTplus still displays for explicit Tube MPC controller confusing information on the prediction horizon _N_=1, although the controller is constructed correctly for any value of N.
The function .simulate works only for compact evaluation of control action (for solType == 1).
The PWQ cost function is always computed (and plotted) subject to the original decision variables of the optimization problem (i.e., the expanded control inputs: u_opt, x_opt) regardless of the setting of the parameter solType.
MPTplus R20230614
Improvements/changes:
Introduced the polynomial approximation of the explicit MPC controllers towards the uncertain LTI systems.
Fixed bugs:
none
Bugs and known limitations:
The current version of MPTplus always displays for explicit Tube MPC controller confusing information on the prediction horizon _N_=1, although the controller is constructed correctly for any value of N.
The function .simulate works only for compact evaluation of control action (for solType == 1).
The PWQ cost function is always computed (and plotted) subject to the original decision variables of the optimization problem (i.e., the expanded control inputs: u_opt, x_opt) regardless of the setting of the parameter solType.
MPTplus R20230331
Improvements/changes:
Introduced framework for the explicit Tube MPC design.
Added the package for the design and verification of low-complexity explicit MPC controllers in MPT3: LowCom.
Introduced polynomial-based approximation of explicit control law.
Enabled depicting of the indexed explicit partition for the general explicit MPC controller.
Fixed bugs:
none
Bugs and known limitations:
The current version of MPTplus always displays for explicit Tube MPC controller confusing information on the prediction horizon _N_=1, although the controller is constructed correctly for any value of N.
The function .simulate works only for compact evaluation of control action (for solType == 1).
The PWQ cost function is always computed (and plotted) subject to the original decision variables of the optimization problem (i.e., the expanded control inputs: u_opt, x_opt) regardless of the setting of the parameter solType.