├── .gitattributes ├── .gitignore ├── README.md └── matlab ├── LBMPC ├── examples │ ├── DMS_LBMPC_casadi.m │ ├── DMS_regular_NMPC_test.m │ ├── DMS_tracking_LMPC_casadi.m │ ├── DMS_tracking_LMPC_casadi_K.m │ ├── DMS_tracking_NMPC_casadi.m │ ├── DSS_NMPC.m │ ├── DSS_tracking_LMPC_casadi.m │ ├── LBMPC_RunExample.m │ ├── LBMPC_casadi.m │ ├── LMPC_RunExample.m │ ├── NMPC_RunExample.m │ ├── collocation_regular_NMPC_test.m │ ├── hybrid_LBMPC_casadi.m │ ├── regular_LMPC_casadi.m │ └── regular_NMPC_casadi.m ├── functions │ ├── calc_mRPIS.m │ ├── casadiL2NW.m │ ├── compute_MPIS.m │ ├── constraintsFunction.m │ ├── constraintsLBMPC.m │ ├── constraintsLMPC.m │ ├── constraintsNMPC.m │ ├── costFunction.m │ ├── costLBMPC.m │ ├── costLMPC.m │ ├── costNMPC.m │ ├── getCONS.m │ ├── getCONSPOLY.m │ ├── matOCP.m │ ├── mgcmDLTI.m │ ├── ocpLBMPC.m │ ├── ocpLMPC.m │ ├── ocpNMPC.m │ ├── oracleL2NW.m │ ├── reach_set.m │ ├── transitionLearned.m │ ├── transitionLearned2.m │ ├── transitionNominal.m │ └── transitionTrue.m ├── models │ ├── learnedModel.m │ ├── learnedModel2.m │ ├── nominalModel.m │ └── trueModel.m ├── saved_data+plots │ ├── LMPCvsLBMPC.m │ ├── NMPCvsLBMPC.m │ ├── compare.m │ ├── data │ │ ├── LBMPC_N40_art_full.mat │ │ ├── LBMPC_N40_sys_full.mat │ │ ├── LBMPC_N50_art_full.mat │ │ ├── LBMPC_N50_sys_full.mat │ │ ├── LBMPC_N60_art_full.mat │ │ ├── LBMPC_N60_sys_full.mat │ │ ├── LBMPC_N80_art_full.mat │ │ ├── LBMPC_N80_sys_full.mat │ │ ├── LMPC_N20_art_full.mat │ │ ├── LMPC_N20_sys_full.mat │ │ ├── LMPC_N40_art_full.mat │ │ ├── LMPC_N40_sys_full.mat │ │ ├── LMPC_N50_art_full.mat │ │ ├── LMPC_N50_sys_full.mat │ │ ├── NMPC_N40_art_full.mat │ │ ├── NMPC_N40_sys_full.mat │ │ ├── NMPC_N50_art_full.mat │ │ ├── NMPC_N50_sys_full.mat │ │ ├── casadi │ │ │ ├── DMS_N50_tLBMPC_q10.mat │ │ │ ├── DMS_N50_tLBMPC_q100.mat │ │ │ ├── DMS_N50_tLMPC.mat │ │ │ ├── DMS_tLBMPC.mat │ │ │ ├── DMS_tLBMPC_q10.mat │ │ │ ├── DMS_tLBMPC_q100.mat │ │ │ ├── DMS_tLBMPC_q200.mat │ │ │ ├── DMS_tLBMPC_q50.mat │ │ │ ├── DMS_tLBMPC_q500.mat │ │ │ ├── DMS_tLBMPC_q500_pretrained.mat │ │ │ ├── DMS_tLBMPC_q50_2.mat │ │ │ ├── DMS_tLMPC_K.mat │ │ │ ├── DSS_NMPC.mat │ │ │ ├── DSS_tLMPC.mat │ │ │ ├── DSS_tNMPC.mat │ │ │ ├── casadi_solver_LBMPC.mat │ │ │ ├── intelCPU_solve_sample_full.mat │ │ │ ├── intelCPU_solve_sample_fullLMPC.mat │ │ │ ├── solve_sample_full.mat │ │ │ ├── solve_sample_reg.mat │ │ │ ├── tLBMPC.mat │ │ │ ├── tLMPC.mat │ │ │ ├── tNMPC.mat │ │ │ └── train_data.mat │ │ └── term_set.mat │ ├── figures │ │ └── pics │ │ │ ├── LBMPC_N.svg │ │ │ ├── LBMPCprob.svg │ │ │ ├── LMPCvsLBMPC.svg │ │ │ ├── NMPCprob.svg │ │ │ ├── casadi │ │ │ ├── LvsLB_N50.svg │ │ │ ├── compare_all.svg │ │ │ ├── compare_all_fix.svg │ │ │ └── comparisonMGCM.svg │ │ │ ├── compare.svg │ │ │ ├── valid_LBMPC.svg │ │ │ └── valid_q_LBMPC.svg │ ├── horizonsLBMPC.m │ ├── learning_model_test.m │ ├── plot_all.m │ ├── plots_LBMPC.m │ ├── solve_stats.m │ ├── utilities │ │ ├── compute_ctrl_energy.m │ │ ├── compute_ctrl_error.m │ │ ├── compute_overshoot.m │ │ ├── compute_ss_time.m │ │ └── response_info.m │ ├── valid_qplots_LBMPC.m │ └── validation_plots_LBMPC.m └── utilities │ ├── ROA.m │ ├── get_data.m │ ├── pdiff.m │ ├── plot2DSS.m │ ├── plotRESPONSE.m │ ├── plot_RESPONSE.m │ ├── reach_set.m │ ├── update_data.m │ └── wp_shift.m ├── MPT_install.m └── trackingMPC ├── ROA.m ├── RunExample.m ├── RunExample_robust.m ├── bloede_beispla.m ├── calc_mRPIS.m ├── casadi_RunExample.m ├── casadi_test.m ├── compute_MPIS.m ├── constraintsFunction.m ├── costFunction.m ├── cost_fun.m ├── dynamics.m ├── getTransitions.m ├── nl_cons.m ├── reach_set.m ├── run_cost.m ├── systemdynamics.m └── term_cost.m /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bevanda/Learning-Based-MPC/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: 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