├── Binary_search_tree ├── File_results │ ├── all_data_10_2_u3.mat │ ├── bst_nodes_10_3_u_du.mat │ ├── ineq_10_3_u_du.mat │ ├── ineq_10_4_u_du.mat │ ├── regions_10_2_u.mat │ ├── regions_10_2_u3.mat │ ├── regions_10_3_u_du.mat │ ├── regions_10_4_u_du.mat │ ├── struct_bst_nodes_10_3_u_du.mat │ ├── struct_regions_10_3_u_du.mat │ └── struct_regions_10_4_u_du.mat ├── binary_tree_generator_control.m ├── binary_tree_generator_region.m ├── chebychev_ball.m ├── count_depth_leafs.m ├── cpp_programs │ ├── convert_bst_mat_to_txt │ │ ├── convert_bst_mat_to_txt.cpp │ │ ├── convert_bst_mat_to_txt.h │ │ ├── main.cpp │ │ ├── mat.h │ │ ├── matrix.h │ │ ├── matrix_drque.h │ │ ├── struct_bst_nodes_10_3_u_du.mat │ │ ├── struct_bst_nodes_10_3_u_du_v2.mat │ │ ├── struct_regions_10_3_u_du.mat │ │ ├── struct_regions_10_3_u_du_v2.mat │ │ └── tmwtypes.h │ ├── explicit_mpc_bst │ │ ├── explicit_mpc_bst.cpp │ │ ├── explicit_mpc_bst.h │ │ ├── main.cpp │ │ ├── matrix_drque.h │ │ ├── output_bst_nodes.txt │ │ └── output_regions.txt │ └── test_convert_mat │ │ └── test_convert_mat │ │ ├── bst_nodes_10_3_u_du_v3.mat │ │ ├── ineq_10_3_u_du_v3.mat │ │ ├── mat.h │ │ ├── matrix.h │ │ ├── matrix_drque.h │ │ ├── regions_10_3_u_du_v3.mat │ │ ├── test_convert_mat.cpp │ │ └── tmwtypes.h ├── define_inequation_node.m ├── define_inequation_node_control.m ├── define_inequation_node_less.m ├── define_inequation_node_less_old.m ├── define_inequation_node_old.m ├── evaluate_region_BST.m ├── filter_law_function.m ├── iris_mimo_implementation.m ├── list_control_laws.m ├── modelo_nlinear_iris.slx ├── nodes_to_struct.m ├── number_control_law.m ├── regions_cell_to_struct.m ├── side_ineq_control.m ├── side_ineq_region.m ├── side_ineq_region_intersec.m ├── simplified_list_control_laws.m ├── verifiy_total_ineq.m ├── verify_equal_matrices.m ├── verify_ineq_in_region.m └── which_region_ineq.m ├── Non_Zero_Set_Point_Regulation ├── Control_generator.m ├── Control_implementation.m ├── README.md ├── backup_test_22_11.mat ├── build_active_const.m ├── chebychev_ball.m ├── check_if_verified.m ├── controlador_deltaU_25_11.mat ├── controle_regiao.m ├── define_control.m ├── define_region.m ├── index_opt_repition.m ├── iris_mimo_control_deltaU_generator.m ├── iris_mimo_control_deltaU_mpc_online.m ├── iris_mimo_control_generator.m ├── iris_mimo_implementation.m ├── matrices_cost_function_reformulation.m ├── modelo_nlinear_iris.slx ├── non_zero_toolbox.m ├── optimal_z_mp_QP.m ├── regioes_10_10_u_r.mat ├── regioes_10_8_u.mat ├── regioes_22_11_bom.mat ├── regioes_7_5_u12_r.mat ├── regions_cell_to_struct.m ├── regions_temp.m ├── regions_test.m ├── regulation_constraints_reformulation.m ├── regulation_matrices_cost_function.m ├── remove_redundant_constraints.m ├── resolve_degenerancy.m ├── setpoint_deltaU_generic_constraints.m ├── setpoint_deltaU_matrices_cost_function.m ├── setpoint_generic_constraints.m ├── setpoint_generic_matrices_cost_function.m ├── slprj │ ├── _jitprj │ │ ├── s036fVSHuY2zkK8aAKwIBpC.l │ │ ├── s036fVSHuY2zkK8aAKwIBpC.mat │ │ ├── s1aOmfS7bcJTmZhYSueHPiD.l │ │ ├── s1aOmfS7bcJTmZhYSueHPiD.mat │ │ ├── s3H1dKXUUcneyqpSEqBkVUE.l │ │ ├── s3foJ243d8M2w0IOI99Ks2B.l │ │ ├── s7xHgA1VKHe0GDhJc9iUgCB.l │ │ ├── s7xHgA1VKHe0GDhJc9iUgCB.mat │ │ ├── sM7YpKKVeHCEQUOFmjcfQQF.l │ │ ├── sM7YpKKVeHCEQUOFmjcfQQF.mat │ │ ├── sT045BT7pGuxiNY5USqrosG.l │ │ ├── sT045BT7pGuxiNY5USqrosG.mat │ │ ├── saBb5aEsLIJoPyl1iC3ruHF.l │ │ ├── saBb5aEsLIJoPyl1iC3ruHF.mat │ │ └── sw31zVLDrTehiTHKMhD2uoD.l │ └── _sfprj │ │ ├── EMLReport │ │ ├── s036fVSHuY2zkK8aAKwIBpC.mat │ │ ├── s1aOmfS7bcJTmZhYSueHPiD.mat │ │ ├── s3H1dKXUUcneyqpSEqBkVUE.mat │ │ ├── s3foJ243d8M2w0IOI99Ks2B.mat │ │ ├── s7xHgA1VKHe0GDhJc9iUgCB.mat │ │ ├── sM7YpKKVeHCEQUOFmjcfQQF.mat │ │ ├── saBb5aEsLIJoPyl1iC3ruHF.mat │ │ └── sw31zVLDrTehiTHKMhD2uoD.mat │ │ └── precompile │ │ ├── chrLOpBThX9ODlTFUNG4xG.mat │ │ ├── mgaMWhGsmEBdO95gLphaF.mat │ │ └── zbOdvwBRnkExrEgyY0DjG.mat ├── struct_regions.mat ├── test_deltaU_r.mat ├── test_struct.m ├── test_toolbox_10_10.m ├── test_toolbox_5_5.m └── toolbox_iris_deltaU.m ├── README.md └── Regulation Problem ├── Algorithm1_bempora2002 ├── Random_tests │ ├── degen_test_double_int.m │ └── double_int_toolbox.m ├── chebychev_ball.m ├── constraints_matrices_reformulation.m ├── define_control.m ├── define_region.m ├── example_1_bemporad_2002.m ├── example_1_control_implementation.m ├── find_rest_regions.m ├── matrices_cost_function_reformulation.m ├── optimal_z_mp_QP.m ├── partition_rest_regions.m ├── remove_redundant_constraints.m ├── toolbox_example_compare.m └── verify_active_constraints.m ├── Algorithm_bemporad2003 ├── build_active_const.m ├── chebychev_ball.m ├── check_if_verified.m ├── constraints_matrices_reformulation.m ├── control_generator.m ├── define_control.m ├── define_region.m ├── example_1_control_implementation.m ├── generate_all_possible_constraints.m ├── matrices_cost_function_reformulation.m ├── optimal_z_mp_QP.m ├── possible_constraints_generator.m ├── 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