├── .gitignore ├── .idea ├── .gitignore ├── control-theory.iml ├── csv-plugin.xml ├── inspectionProfiles │ └── profiles_settings.xml ├── misc.xml ├── modules.xml └── vcs.xml ├── MPC ├── command-governor │ ├── autopilot │ │ ├── CG.m │ │ ├── CG_Offline.m │ │ ├── Linearization23ms.mat │ │ ├── Main.m │ │ ├── longitudinal_inputRate.mat │ │ ├── longitudinal_mat.mat │ │ ├── main_CG.m │ │ ├── main_TC.m │ │ ├── main_TD.m │ │ ├── reference.mat │ │ ├── simCG.slx │ │ ├── simTC.slx │ │ └── simTD.slx │ ├── piston │ │ ├── Calcolo_CG.m │ │ ├── Controllo_CG.slx │ │ ├── Controllo_CG_sfun.mexw64 │ │ ├── Func_obj_succ.m │ │ ├── LQI_control.m │ │ ├── OffsetFree.m │ │ ├── Relazione.pdf │ │ ├── calcola_k0.m │ │ ├── dyn_model.slx │ │ ├── dyn_model_sfun.mexw64 │ │ ├── info.pdf │ │ ├── main.m │ │ └── ref.mat │ └── servo-mechanism │ │ ├── CG.m │ │ ├── CGOffLineSetting.m │ │ ├── CGYalmip.m │ │ ├── main.m │ │ ├── makeSystem.m │ │ ├── readme.pdf │ │ └── simulator.mdl ├── model-predictive-control │ ├── chaos-synchronization-with-mpc │ │ ├── ChuaMultipleSynch - MPC │ │ │ ├── Chaos.jpg │ │ │ ├── ChuaMultipleSynch_MPC.slx │ │ │ ├── ChuaMultipleSynch_MPC_2.slx │ │ │ ├── ChuaMultipleSynch_MPC_3.slx │ │ │ ├── Chua_Lorenz_MPC.mat │ │ │ ├── Chua_Lorenz_Noise_Param_Nominal_MPC.mat │ │ │ ├── Info.txt │ │ │ ├── MPC_Controller.m │ │ │ ├── PlotEig.m │ │ │ ├── RK4_integrator.m │ │ │ ├── main_mpc.m │ │ │ ├── main_sim.m │ │ │ ├── ode.m │ │ │ ├── ode2.m │ │ │ ├── ode3.m │ │ │ └── visualizeChua.m │ │ ├── ChuaMultipleSynch - Robust MPC │ │ │ ├── Chaos.jpg │ │ │ ├── ChauMultipleRobustMPC.slx │ │ │ ├── ChauMultipleRobustMPC_sfun.mexw64 │ │ │ ├── Chua_Forward_Sim.m │ │ │ ├── MPC_Controller.m │ │ │ ├── Main_ChauMultipleRobustMPC.m │ │ │ ├── RK4_integrator.m │ │ │ ├── RobustMPC_No_Noise.mat │ │ │ ├── RobustMPC_Noise.mat │ │ │ ├── ode.m │ │ │ ├── ode_V1.m │ │ │ ├── ode_V2.m │ │ │ ├── ode_V3.m │ │ │ ├── ode_V4.m │ │ │ ├── slprj │ │ │ │ └── _sfprj │ │ │ │ │ ├── ChauMultipleRobustMPC │ │ │ │ │ └── _self │ │ │ │ │ │ └── sfun │ │ │ │ │ │ ├── info │ │ │ │ │ │ ├── binfo.mat │ │ │ │ │ │ ├── chart2_Ixkke317Nk4G6ol1pxsh1B.mat │ │ │ │ │ │ └── chart3_KN1LlbzORKUw2asDPd0DbH.mat │ │ │ │ │ │ └── src │ │ │ │ │ │ ├── ChauMultipleRobustMPC_sfun.bat │ │ │ │ │ │ ├── ChauMultipleRobustMPC_sfun.c │ │ │ │ │ │ ├── ChauMultipleRobustMPC_sfun.def │ │ │ │ │ │ ├── ChauMultipleRobustMPC_sfun.exp │ │ │ │ │ │ ├── ChauMultipleRobustMPC_sfun.h │ │ │ │ │ │ ├── ChauMultipleRobustMPC_sfun.lib │ │ │ │ │ │ ├── ChauMultipleRobustMPC_sfun.lmk │ │ │ │ │ │ ├── ChauMultipleRobustMPC_sfun.lmko │ │ │ │ │ │ ├── ChauMultipleRobustMPC_sfun_debug_macros.h │ │ │ │ │ │ ├── ChauMultipleRobustMPC_sfun_registry.c │ │ │ │ │ │ ├── c2_ChauMultipleRobustMPC.c │ │ │ │ │ │ ├── c2_ChauMultipleRobustMPC.h │ │ │ │ │ │ ├── c2_chaumultiplerobustmpc.obj │ │ │ │ │ │ ├── c3_ChauMultipleRobustMPC.c │ │ │ │ │ │ ├── c3_ChauMultipleRobustMPC.h │ │ │ │ │ │ ├── c3_chaumultiplerobustmpc.obj │ │ │ │ │ │ ├── chaumultiplerobustmpc_sfun.obj │ │ │ │ │ │ ├── chaumultiplerobustmpc_sfun_registry.obj │ │ │ │ │ │ ├── lccstub.obj │ │ │ │ │ │ ├── multiword_types.h │ │ │ │ │ │ ├── rtwtypes.h │ │ │ │ │ │ ├── rtwtypeschksum.mat │ │ │ │ │ │ └── sfun.map │ │ │ │ │ ├── Chua_MPC │ │ │ │ │ └── _self │ │ │ │ │ │ └── sfun │ │ │ │ │ │ ├── info │ │ │ │ │ │ ├── binfo.mat │ │ │ │ │ │ ├── chart2_llVMtrlsp41Ndp7HhJPOzD.mat │ │ │ │ │ │ ├── chart3_06TjPkE2SGGWaMUuaVYRFC.mat │ │ │ │ │ │ └── chart3_KN1LlbzORKUw2asDPd0DbH.mat │ │ │ │ │ │ └── src │ │ │ │ │ │ ├── Chua_MPC_sfun.bat │ │ │ │ │ │ ├── Chua_MPC_sfun.c │ │ │ │ │ │ ├── Chua_MPC_sfun.def │ │ │ │ │ │ ├── Chua_MPC_sfun.exp │ │ │ │ │ │ ├── Chua_MPC_sfun.h │ │ │ │ │ │ ├── Chua_MPC_sfun.lib │ │ │ │ │ │ ├── Chua_MPC_sfun.lmk │ │ │ │ │ │ ├── Chua_MPC_sfun.lmko │ │ │ │ │ │ ├── Chua_MPC_sfun_debug_macros.h │ │ │ │ │ │ ├── Chua_MPC_sfun_registry.c │ │ │ │ │ │ ├── c2_Chua_MPC.c │ │ │ │ │ │ ├── c2_Chua_MPC.h │ │ │ │ │ │ ├── c2_chua_mpc.obj │ │ │ │ │ │ ├── c3_Chua_MPC.c │ │ │ │ │ │ ├── c3_Chua_MPC.h │ │ │ │ │ │ ├── c3_chua_mpc.obj │ │ │ │ │ │ ├── chua_mpc_sfun.obj │ │ │ │ │ │ ├── chua_mpc_sfun_registry.obj │ │ │ │ │ │ ├── lccstub.obj │ │ │ │ │ │ ├── multiword_types.h │ │ │ │ │ │ ├── rtwtypes.h │ │ │ │ │ │ ├── rtwtypeschksum.mat │ │ │ │ │ │ └── sfun.map │ │ │ │ │ └── Chua_MPC_IH │ │ │ │ │ └── _self │ │ │ │ │ └── sfun │ │ │ │ │ ├── info │ │ │ │ │ ├── binfo.mat │ │ │ │ │ ├── chart2_llVMtrlsp41Ndp7HhJPOzD.mat │ │ │ │ │ └── chart3_KN1LlbzORKUw2asDPd0DbH.mat │ │ │ │ │ └── src │ │ │ │ │ ├── Chua_MPC_IH_sfun.bat │ │ │ │ │ ├── Chua_MPC_IH_sfun.c │ │ │ │ │ ├── Chua_MPC_IH_sfun.def │ │ │ │ │ ├── Chua_MPC_IH_sfun.exp │ │ │ │ │ ├── Chua_MPC_IH_sfun.h │ │ │ │ │ ├── Chua_MPC_IH_sfun.lib │ │ │ │ │ ├── Chua_MPC_IH_sfun.lmk │ │ │ │ │ ├── Chua_MPC_IH_sfun.lmko │ │ │ │ │ ├── Chua_MPC_IH_sfun_debug_macros.h │ │ │ │ │ ├── Chua_MPC_IH_sfun_registry.c │ │ │ │ │ ├── c2_Chua_MPC_IH.c │ │ │ │ │ ├── c2_Chua_MPC_IH.h │ │ │ │ │ ├── c2_chua_mpc_ih.obj │ │ │ │ │ ├── c3_Chua_MPC_IH.c │ │ │ │ │ ├── c3_Chua_MPC_IH.h │ │ │ │ │ ├── c3_chua_mpc_ih.obj │ │ │ │ │ ├── chua_mpc_ih_sfun.obj │ │ │ │ │ ├── chua_mpc_ih_sfun_registry.obj │ │ │ │ │ ├── lccstub.obj │ │ │ │ │ ├── multiword_types.h │ │ │ │ │ ├── rtwtypes.h │ │ │ │ │ ├── rtwtypeschksum.mat │ │ │ │ │ └── sfun.map │ │ │ └── visualizeChua.m │ │ ├── ChuaSync - LQR │ │ │ ├── Chua_LQr.slx │ │ │ ├── Chua_LQr_sfun.mexw64 │ │ │ ├── Main_ChuaLQR.m │ │ │ ├── RK4_integrator.m │ │ │ ├── ode.m │ │ │ └── slprj │ │ │ │ └── _sfprj │ │ │ │ └── Chua_LQr │ │ │ │ └── _self │ │ │ │ └── sfun │ │ │ │ ├── info │ │ │ │ ├── binfo.mat │ │ │ │ ├── chart2_llVMtrlsp41Ndp7HhJPOzD.mat │ │ │ │ └── chart3_LGzpXJ0Ikjc95BqgtvgqEF.mat │ │ │ │ └── src │ │ │ │ ├── Chua_LQr_sfun.bat │ │ │ │ ├── Chua_LQr_sfun.c │ │ │ │ ├── Chua_LQr_sfun.exp │ │ │ │ ├── Chua_LQr_sfun.h │ │ │ │ ├── Chua_LQr_sfun.lib │ │ │ │ ├── Chua_LQr_sfun.mak │ │ │ │ ├── Chua_LQr_sfun.map │ │ │ │ ├── Chua_LQr_sfun.mexw64.manifest │ │ │ │ ├── Chua_LQr_sfun.mol │ │ │ │ ├── Chua_LQr_sfun.obj │ │ │ │ ├── Chua_LQr_sfun_debug_macros.h │ │ │ │ ├── Chua_LQr_sfun_registry.c │ │ │ │ ├── Chua_LQr_sfun_registry.obj │ │ │ │ ├── c2_Chua_LQr.c │ │ │ │ ├── c2_Chua_LQr.h │ │ │ │ ├── c2_Chua_LQr.obj │ │ │ │ ├── c3_Chua_LQr.c │ │ │ │ ├── c3_Chua_LQr.h │ │ │ │ ├── c3_Chua_LQr.obj │ │ │ │ ├── multiword_types.h │ │ │ │ ├── rtwtypes.h │ │ │ │ └── rtwtypeschksum.mat │ │ ├── ChuaSync - MPC │ │ │ ├── Chaos.jpg │ │ │ ├── Chua_MPC.slx │ │ │ ├── Chua_MPC_sfun.mexw64 │ │ │ ├── MPC_Controller.m │ │ │ ├── MPC_Result_Noise.mat │ │ │ ├── Main_ChuaMPC.m │ │ │ ├── RK4_integrator.m │ │ │ ├── ode.m │ │ │ ├── slprj │ │ │ │ └── _sfprj │ │ │ │ │ ├── Chua_MPC │ │ │ │ │ └── _self │ │ │ │ │ │ └── sfun │ │ │ │ │ │ ├── info │ │ │ │ │ │ ├── binfo.mat │ │ │ │ │ │ ├── chart1_KN1LlbzORKUw2asDPd0DbH.mat │ │ │ │ │ │ └── chart2_llVMtrlsp41Ndp7HhJPOzD.mat │ │ │ │ │ │ └── src │ │ │ │ │ │ ├── Chua_MPC_sfun.bat │ │ │ │ │ │ ├── Chua_MPC_sfun.c │ │ │ │ │ │ ├── Chua_MPC_sfun.def │ │ │ │ │ │ ├── Chua_MPC_sfun.exp │ │ │ │ │ │ ├── Chua_MPC_sfun.h │ │ │ │ │ │ ├── Chua_MPC_sfun.lib │ │ │ │ │ │ ├── Chua_MPC_sfun.lmk │ │ │ │ │ │ ├── Chua_MPC_sfun.lmko │ │ │ │ │ │ ├── Chua_MPC_sfun_debug_macros.h │ │ │ │ │ │ ├── Chua_MPC_sfun_registry.c │ │ │ │ │ │ ├── c1_Chua_MPC.c │ │ │ │ │ │ ├── c1_Chua_MPC.h │ │ │ │ │ │ ├── c1_chua_mpc.obj │ │ │ │ │ │ ├── c2_Chua_MPC.c │ │ │ │ │ │ ├── c2_Chua_MPC.h │ │ │ │ │ │ ├── c2_chua_mpc.obj │ │ │ │ │ │ ├── chua_mpc_sfun.obj │ │ │ │ │ │ ├── chua_mpc_sfun_registry.obj │ │ │ │ │ │ ├── lccstub.obj │ │ │ │ │ │ ├── multiword_types.h │ │ │ │ │ │ ├── rtwtypes.h │ │ │ │ │ │ ├── rtwtypeschksum.mat │ │ │ │ │ │ └── sfun.map │ │ │ │ │ └── Chua_MPC_IH │ │ │ │ │ └── _self │ │ │ │ │ └── sfun │ │ │ │ │ ├── info │ │ │ │ │ ├── binfo.mat │ │ │ │ │ ├── chart2_llVMtrlsp41Ndp7HhJPOzD.mat │ │ │ │ │ └── chart3_KN1LlbzORKUw2asDPd0DbH.mat │ │ │ │ │ └── src │ │ │ │ │ ├── Chua_MPC_IH_sfun.bat │ │ │ │ │ ├── Chua_MPC_IH_sfun.c │ │ │ │ │ ├── Chua_MPC_IH_sfun.def │ │ │ │ │ ├── Chua_MPC_IH_sfun.exp │ │ │ │ │ ├── Chua_MPC_IH_sfun.h │ │ │ │ │ ├── Chua_MPC_IH_sfun.lib │ │ │ │ │ ├── Chua_MPC_IH_sfun.lmk │ │ │ │ │ ├── Chua_MPC_IH_sfun.lmko │ │ │ │ │ ├── Chua_MPC_IH_sfun_debug_macros.h │ │ │ │ │ ├── Chua_MPC_IH_sfun_registry.c │ │ │ │ │ ├── c2_Chua_MPC_IH.c │ │ │ │ │ ├── c2_Chua_MPC_IH.h │ │ │ │ │ ├── c2_chua_mpc_ih.obj │ │ │ │ │ ├── c3_Chua_MPC_IH.c │ │ │ │ │ ├── c3_Chua_MPC_IH.h │ │ │ │ │ ├── c3_chua_mpc_ih.obj │ │ │ │ │ ├── chua_mpc_ih_sfun.obj │ │ │ │ │ ├── chua_mpc_ih_sfun_registry.obj │ │ │ │ │ ├── lccstub.obj │ │ │ │ │ ├── multiword_types.h │ │ │ │ │ ├── rtwtypes.h │ │ │ │ │ ├── rtwtypeschksum.mat │ │ │ │ │ └── sfun.map │ │ │ └── visualizeChua.m │ │ ├── ChuaSync - NMPC │ │ │ ├── Chua_NMPC_sfun.mexa64 │ │ │ ├── Result │ │ │ │ ├── 2D.jpg │ │ │ │ ├── 3D.jpg │ │ │ │ └── Plot.jpg │ │ │ ├── acado_MPCstep.mexa64 │ │ │ ├── export_MPC │ │ │ │ ├── Makefile │ │ │ │ ├── acado_auxiliary_functions.c │ │ │ │ ├── acado_auxiliary_functions.h │ │ │ │ ├── acado_common.h │ │ │ │ ├── acado_integrator.c │ │ │ │ ├── acado_qpoases_interface.cpp │ │ │ │ ├── acado_qpoases_interface.hpp │ │ │ │ ├── acado_solver.c │ │ │ │ ├── acado_solver.mexa64 │ │ │ │ ├── acado_solver_mex.c │ │ │ │ ├── acado_solver_sfun.cpp │ │ │ │ ├── acado_solver_sfun.mexa64 │ │ │ │ ├── acado_solver_sfun.tlc │ │ │ │ ├── acado_solver_sfunction.c │ │ │ │ ├── acado_solver_sfunction.h │ │ │ │ ├── make_acado_solver.m │ │ │ │ ├── make_acado_solver_sfunction.m │ │ │ │ ├── qpoases │ │ │ │ │ ├── EXAMPLES │ │ │ │ │ │ ├── example1.cpp │ │ │ │ │ │ └── example1b.cpp │ │ │ │ │ ├── INCLUDE │ │ │ │ │ │ ├── Bounds.hpp │ │ │ │ │ │ ├── Constants.hpp │ │ │ │ │ │ ├── Constraints.hpp │ │ │ │ │ │ ├── CyclingManager.hpp │ │ │ │ │ │ ├── EXTRAS │ │ │ │ │ │ │ └── SolutionAnalysis.hpp │ │ │ │ │ │ ├── Indexlist.hpp │ │ │ │ │ │ ├── MessageHandling.hpp │ │ │ │ │ │ ├── QProblem.hpp │ │ │ │ │ │ ├── QProblemB.hpp │ │ │ │ │ │ ├── SubjectTo.hpp │ │ │ │ │ │ ├── Types.hpp │ │ │ │ │ │ └── Utils.hpp │ │ │ │ │ ├── LICENSE.txt │ │ │ │ │ ├── README.txt │ │ │ │ │ ├── SRC │ │ │ │ │ │ ├── Bounds.cpp │ │ │ │ │ │ ├── Bounds.ipp │ │ │ │ │ │ ├── Constraints.cpp │ │ │ │ │ │ ├── Constraints.ipp │ │ │ │ │ │ ├── CyclingManager.cpp │ │ │ │ │ │ ├── CyclingManager.ipp │ │ │ │ │ │ ├── EXTRAS │ │ │ │ │ │ │ └── SolutionAnalysis.cpp │ │ │ │ │ │ ├── Indexlist.cpp │ │ │ │ │ │ ├── Indexlist.ipp │ │ │ │ │ │ ├── MessageHandling.cpp │ │ │ │ │ │ ├── MessageHandling.ipp │ │ │ │ │ │ ├── QProblem.cpp │ │ │ │ │ │ ├── QProblem.ipp │ │ │ │ │ │ ├── QProblemB.cpp │ │ │ │ │ │ ├── QProblemB.ipp │ │ │ │ │ │ ├── SubjectTo.cpp │ │ │ │ │ │ ├── SubjectTo.ipp │ │ │ │ │ │ ├── Utils.cpp │ │ │ │ │ │ └── Utils.ipp │ │ │ │ │ └── VERSIONS.txt │ │ │ │ ├── rtwmakecfg.m │ │ │ │ └── test.c │ │ │ ├── export_SIM │ │ │ │ ├── Makefile │ │ │ │ ├── acado_auxiliary_sim_functions.c │ │ │ │ ├── acado_auxiliary_sim_functions.h │ │ │ │ ├── acado_common.h │ │ │ │ ├── acado_compare.c │ │ │ │ ├── acado_integrate.c │ │ │ │ ├── acado_integrator.c │ │ │ │ └── make_acado_integrator.m │ │ │ ├── main_Chua_NMPC.m │ │ │ ├── mpc.cpp │ │ │ ├── mpc_RUN.m │ │ │ ├── mpc_RUN.mexa64 │ │ │ ├── mpc_data_acadodata_M1.txt │ │ │ ├── mpc_data_acadodata_M2.txt │ │ │ ├── sim.cpp │ │ │ ├── sim_RUN.m │ │ │ ├── sim_RUN.mexa64 │ │ │ ├── simulate_system.mexa64 │ │ │ └── slprj │ │ │ │ └── _sfprj │ │ │ │ └── Chua_NMPC │ │ │ │ └── _self │ │ │ │ └── sfun │ │ │ │ ├── info │ │ │ │ ├── binfo.mat │ │ │ │ ├── chart2_c6NoOvaleeFs4oq9st5g7B.mat │ │ │ │ └── chart3_cvsdhiaqyop0wqyKdQtVZB.mat │ │ │ │ └── src │ │ │ │ ├── Chua_NMPC_sfun.c │ │ │ │ ├── Chua_NMPC_sfun.h │ │ │ │ ├── Chua_NMPC_sfun.mku │ │ │ │ ├── Chua_NMPC_sfun.mol │ │ │ │ ├── Chua_NMPC_sfun.o │ │ │ │ ├── Chua_NMPC_sfun_debug_macros.h │ │ │ │ ├── Chua_NMPC_sfun_registry.c │ │ │ │ ├── Chua_NMPC_sfun_registry.o │ │ │ │ ├── c2_Chua_NMPC.c │ │ │ │ ├── c2_Chua_NMPC.h │ │ │ │ ├── c2_Chua_NMPC.o │ │ │ │ ├── c3_Chua_NMPC.c │ │ │ │ ├── c3_Chua_NMPC.h │ │ │ │ ├── c3_Chua_NMPC.o │ │ │ │ ├── multiword_types.h │ │ │ │ ├── rtwtypes.h │ │ │ │ └── rtwtypeschksum.mat │ │ ├── ChuaSync - OpenLoop │ │ │ ├── RK4_integrator.m │ │ │ ├── Result │ │ │ │ ├── 2D.jpg │ │ │ │ ├── 2D2.jpg │ │ │ │ ├── 2D3.jpg │ │ │ │ ├── 3D.jpg │ │ │ │ ├── 3D2.jpg │ │ │ │ ├── 3D3.jpg │ │ │ │ ├── Plot.jpg │ │ │ │ ├── Plot2.jpg │ │ │ │ └── Plot3.jpg │ │ │ ├── main_Chua_Open.m │ │ │ ├── ode.m │ │ │ ├── slprj │ │ │ │ └── _sfprj │ │ │ │ │ └── Chua_MPC │ │ │ │ │ └── _self │ │ │ │ │ └── sfun │ │ │ │ │ ├── info │ │ │ │ │ ├── binfo.mat │ │ │ │ │ ├── chart2_c6NoOvaleeFs4oq9st5g7B.mat │ │ │ │ │ └── chart3_cvsdhiaqyop0wqyKdQtVZB.mat │ │ │ │ │ └── src │ │ │ │ │ ├── Chua_MPC_sfun.c │ │ │ │ │ ├── Chua_MPC_sfun.h │ │ │ │ │ ├── Chua_MPC_sfun.mku │ │ │ │ │ ├── Chua_MPC_sfun.mol │ │ │ │ │ ├── Chua_MPC_sfun.o │ │ │ │ │ ├── Chua_MPC_sfun_debug_macros.h │ │ │ │ │ ├── Chua_MPC_sfun_registry.c │ │ │ │ │ ├── Chua_MPC_sfun_registry.o │ │ │ │ │ ├── c2_Chua_MPC.c │ │ │ │ │ ├── c2_Chua_MPC.h │ │ │ │ │ ├── c2_Chua_MPC.o │ │ │ │ │ ├── c3_Chua_MPC.c │ │ │ │ │ ├── c3_Chua_MPC.h │ │ │ │ │ ├── c3_Chua_MPC.o │ │ │ │ │ ├── multiword_types.h │ │ │ │ │ ├── rtwtypes.h │ │ │ │ │ └── rtwtypeschksum.mat │ │ │ └── visualizeChua.m │ │ ├── ChuaSync - Robust MPC │ │ │ ├── Chaos.jpg │ │ │ ├── Chua_Forward_Sim.m │ │ │ ├── Chua_Robust_MPC.slx │ │ │ ├── MPC_Controller.m │ │ │ ├── Main_RobustMPC.m │ │ │ ├── RK4_integrator.m │ │ │ ├── RobustMPC_No_Noise.mat │ │ │ ├── RobustMPC_Noise.mat │ │ │ ├── ode.m │ │ │ ├── ode_V1.m │ │ │ ├── ode_V2.m │ │ │ ├── ode_V3.m │ │ │ ├── ode_V4.m │ │ │ ├── slprj │ │ │ │ └── _sfprj │ │ │ │ │ ├── Chua_MPC │ │ │ │ │ └── _self │ │ │ │ │ │ └── sfun │ │ │ │ │ │ ├── info │ │ │ │ │ │ ├── binfo.mat │ │ │ │ │ │ ├── chart2_llVMtrlsp41Ndp7HhJPOzD.mat │ │ │ │ │ │ ├── chart3_06TjPkE2SGGWaMUuaVYRFC.mat │ │ │ │ │ │ └── chart3_KN1LlbzORKUw2asDPd0DbH.mat │ │ │ │ │ │ └── src │ │ │ │ │ │ ├── Chua_MPC_sfun.bat │ │ │ │ │ │ ├── Chua_MPC_sfun.c │ │ │ │ │ │ ├── Chua_MPC_sfun.def │ │ │ │ │ │ ├── Chua_MPC_sfun.exp │ │ │ │ │ │ ├── Chua_MPC_sfun.h │ │ │ │ │ │ ├── Chua_MPC_sfun.lib │ │ │ │ │ │ ├── Chua_MPC_sfun.lmk │ │ │ │ │ │ ├── Chua_MPC_sfun.lmko │ │ │ │ │ │ ├── Chua_MPC_sfun_debug_macros.h │ │ │ │ │ │ ├── Chua_MPC_sfun_registry.c │ │ │ │ │ │ ├── c2_Chua_MPC.c │ │ │ │ │ │ ├── c2_Chua_MPC.h │ │ │ │ │ │ ├── c2_chua_mpc.obj │ │ │ │ │ │ ├── c3_Chua_MPC.c │ │ │ │ │ │ ├── c3_Chua_MPC.h │ │ │ │ │ │ ├── c3_chua_mpc.obj │ │ │ │ │ │ ├── chua_mpc_sfun.obj │ │ │ │ │ │ ├── chua_mpc_sfun_registry.obj │ │ │ │ │ │ ├── lccstub.obj │ │ │ │ │ │ ├── multiword_types.h │ │ │ │ │ │ ├── rtwtypes.h │ │ │ │ │ │ ├── rtwtypeschksum.mat │ │ │ │ │ │ └── sfun.map │ │ │ │ │ └── Chua_MPC_IH │ │ │ │ │ └── _self │ │ │ │ │ └── sfun │ │ │ │ │ ├── info │ │ │ │ │ ├── binfo.mat │ │ │ │ │ ├── chart2_llVMtrlsp41Ndp7HhJPOzD.mat │ │ │ │ │ └── chart3_KN1LlbzORKUw2asDPd0DbH.mat │ │ │ │ │ └── src │ │ │ │ │ ├── Chua_MPC_IH_sfun.bat │ │ │ │ │ ├── Chua_MPC_IH_sfun.c │ │ │ │ │ ├── Chua_MPC_IH_sfun.def │ │ │ │ │ ├── Chua_MPC_IH_sfun.exp │ │ │ │ │ ├── Chua_MPC_IH_sfun.h │ │ │ │ │ ├── Chua_MPC_IH_sfun.lib │ │ │ │ │ ├── Chua_MPC_IH_sfun.lmk │ │ │ │ │ ├── Chua_MPC_IH_sfun.lmko │ │ │ │ │ ├── Chua_MPC_IH_sfun_debug_macros.h │ │ │ │ │ ├── Chua_MPC_IH_sfun_registry.c │ │ │ │ │ ├── c2_Chua_MPC_IH.c │ │ │ │ │ ├── c2_Chua_MPC_IH.h │ │ │ │ │ ├── c2_chua_mpc_ih.obj │ │ │ │ │ ├── c3_Chua_MPC_IH.c │ │ │ │ │ ├── c3_Chua_MPC_IH.h │ │ │ │ │ ├── c3_chua_mpc_ih.obj │ │ │ │ │ ├── chua_mpc_ih_sfun.obj │ │ │ │ │ ├── chua_mpc_ih_sfun_registry.obj │ │ │ │ │ ├── lccstub.obj │ │ │ │ │ ├── multiword_types.h │ │ │ │ │ ├── rtwtypes.h │ │ │ │ │ ├── rtwtypeschksum.mat │ │ │ │ │ └── sfun.map │ │ │ └── visualizeChua.m │ │ ├── ChuaSync_Main.m │ │ └── Presentation │ │ │ ├── ChaosSynchronization - Licitra.pdf │ │ │ ├── ChaosSynchronization.pdf │ │ │ ├── ChaosSynchronization.ppt │ │ │ └── ChaosSynchronization.pptx │ ├── linear_mpc_move_blocking.m │ ├── linear_mpc_soft_constraints.m │ ├── linear_mpc_tracking.m │ ├── linear_mpc_tracking_slew_rate.m │ ├── linear_mpc_trajectory_preview.m │ ├── linear_mpc_trajectory_preview_param.m │ └── linear_mpc_trajectory_preview_param_r_x0.m └── reference-governor │ └── servo-mechanism │ ├── animation.webm │ ├── jit_tmp.c │ ├── main.m │ ├── makePlant.m │ ├── makeReferenceGovernor.m │ └── readme.pdf ├── README.md ├── automatic-controls ├── DLQR-design │ ├── DLQI_LinearizedDynamic_AP2.m │ ├── DLQI_LinearizedDynamic_AP2_inputRate.m │ ├── Linearization23ms.mat │ ├── dlqi.slx │ ├── dlqi_inputRate.slx │ ├── plotting.m │ └── plotting_InputRateCase.m ├── LQI-design │ ├── LQI_LinearizedDynamic_AP2.m │ ├── LQI_LinearizedDynamic_AP2_inputRate.m │ ├── Linearization23ms.mat │ ├── lqi.slx │ ├── lqi_inputRate.slx │ ├── main.m │ ├── plotting.m │ └── plotting_InputRateCase.m ├── LQI-gain-scheduling │ ├── LQIdesign.m │ ├── MagneticLevitation.m │ ├── MagneticLevitationClosedLoop.m │ ├── Visualize │ │ ├── initializePlot.m │ │ └── updatePlot.m │ ├── magLev_GS_sim.slx │ ├── magLev_sim.slx │ ├── main.m │ ├── main_GS.m │ ├── makePrecompensatedPlant.m │ ├── slprj │ │ ├── _jitprj │ │ │ ├── jitEngineAccessInfo.mat │ │ │ ├── s4nFGfYJWs8Kwcd3blkPoVG.l │ │ │ ├── s4nFGfYJWs8Kwcd3blkPoVG.mat │ │ │ ├── sCDebTYANE70Q04ryrTb2k.l │ │ │ ├── sCDebTYANE70Q04ryrTb2k.mat │ │ │ ├── sZ6ZRG4DECcBMBqbHR4IeGG.l │ │ │ └── sZ6ZRG4DECcBMBqbHR4IeGG.mat │ │ └── _sfprj │ │ │ ├── EMLReport │ │ │ ├── emlReportAccessInfo.mat │ │ │ ├── s4nFGfYJWs8Kwcd3blkPoVG.mat │ │ │ ├── sCDebTYANE70Q04ryrTb2k.mat │ │ │ └── sZ6ZRG4DECcBMBqbHR4IeGG.mat │ │ │ ├── magLev_GS_sim │ │ │ └── _self │ │ │ │ └── sfun │ │ │ │ └── info │ │ │ │ └── binfo.mat │ │ │ ├── magLev_sim │ │ │ └── _self │ │ │ │ └── sfun │ │ │ │ └── info │ │ │ │ └── binfo.mat │ │ │ └── precompile │ │ │ ├── 15XR3Ob2K0Y9ejGI7STY4B.mat │ │ │ ├── DwcmP8ZwCSdu4lOXfilBRC.mat │ │ │ ├── OX69CSHRhkgro42rfnzPdG.mat │ │ │ ├── OxlMylTSxNki1p9gqGOyzE.mat │ │ │ ├── PEMilQX67D7Al7z0JqMSFH.mat │ │ │ ├── autoInferAccessInfo.mat │ │ │ └── tXXxV1HsIODrJaodRo1P8C.mat │ └── supportTools │ │ ├── getIntegrator.m │ │ ├── linearize.m │ │ └── trim.m ├── PID-gain-scheduling │ ├── autopilot │ │ ├── AirframeData.m │ │ ├── GainScheduledAutopilotExample.m │ │ ├── gsautopilot1.png │ │ ├── rct_airframeGS.slx │ │ └── rct_airframeTRIM.slx │ ├── chemical-process │ │ ├── CSTRData.mat │ │ ├── GainScheduledProcessExample.m │ │ ├── gsprocess1.png │ │ ├── gsprocess2.png │ │ ├── gsprocess4.png │ │ ├── rct_CSTR.slx │ │ └── rct_CSTR_OL.slx │ └── magnetic-levitator │ │ ├── LQIdesign.m │ │ ├── MagneticLevitation.m │ │ ├── Visualize │ │ ├── initializePlot.m │ │ └── updatePlot.m │ │ ├── magLev_GS_sim.slx │ │ ├── magLev_sim.slx │ │ ├── magLev_sim_sfun.mexw64 │ │ ├── main.m │ │ ├── main_GS.m │ │ ├── makePrecompensatedPlant.m │ │ ├── slprj │ │ ├── _jitprj │ │ │ ├── jitEngineAccessInfo.mat │ │ │ ├── s5hfGMMsOwuq758RY5Gu7wH.l │ │ │ ├── s5hfGMMsOwuq758RY5Gu7wH.mat │ │ │ ├── s8O5T7cnZ7DVXEdtKhXLGNC.l │ │ │ ├── s8O5T7cnZ7DVXEdtKhXLGNC.mat │ │ │ ├── s8zmkegXsfO50URa6BmGKNG.l │ │ │ ├── s8zmkegXsfO50URa6BmGKNG.mat │ │ │ ├── sCDebTYANE70Q04ryrTb2k.l │ │ │ ├── sCDebTYANE70Q04ryrTb2k.mat │ │ │ ├── sG4zogecIidwNrRgu04JLXC.l │ │ │ ├── sG4zogecIidwNrRgu04JLXC.mat │ │ │ ├── saiEZXQ24moC3b1taOxXdwE.l │ │ │ ├── saiEZXQ24moC3b1taOxXdwE.mat │ │ │ ├── snhfWKMVWgvG0wzQVoyA5eE.l │ │ │ ├── snhfWKMVWgvG0wzQVoyA5eE.mat │ │ │ ├── spG8Rs0rIJCwNdRx7Aw6dsH.l │ │ │ └── spG8Rs0rIJCwNdRx7Aw6dsH.mat │ │ └── _sfprj │ │ │ ├── EMLReport │ │ │ ├── d8nm3OVQmzd0WLgGnC7SOB.mat │ │ │ ├── d8nm3OVQmzd0WLgGnC7SOB │ │ │ │ ├── MagLev9_mcode.html │ │ │ │ ├── MagLev9_watch.html │ │ │ │ ├── exported_values.mat │ │ │ │ ├── fcn1_mcode.html │ │ │ │ ├── fcn1_watch.html │ │ │ │ ├── index.css │ │ │ │ ├── index.html │ │ │ │ └── resources │ │ │ │ │ ├── Error_document.gif │ │ │ │ │ ├── Fatal_document.gif │ │ │ │ │ ├── Warning_document.gif │ │ │ │ │ ├── cc_sourcecodec.png │ │ │ │ │ ├── collapsible-last.gif │ │ │ │ │ ├── collapsible.gif │ │ │ │ │ ├── cs_document_check.png │ │ │ │ │ ├── cs_document_error.png │ │ │ │ │ ├── cs_document_warning.png │ │ │ │ │ ├── cs_folder_close_check.png │ │ │ │ │ ├── cs_folder_close_error.png │ │ │ │ │ ├── cs_folder_close_warning.png │ │ │ │ │ ├── cs_folder_open_check.png │ │ │ │ │ ├── cs_folder_open_error.png │ │ │ │ │ ├── cs_folder_open_warning.png │ │ │ │ │ ├── css │ │ │ │ │ └── coder_app.css │ │ │ │ │ ├── emcvhtml.js │ │ │ │ │ ├── eml_report.css │ │ │ │ │ ├── eml_report_interactions.js │ │ │ │ │ ├── eml_report_layout.js │ │ │ │ │ ├── expandable-last.gif │ │ │ │ │ ├── expandable.gif │ │ │ │ │ ├── folderclosed.gif │ │ │ │ │ ├── folderopen.gif │ │ │ │ │ ├── help.png │ │ │ │ │ ├── hilite_warning.png │ │ │ │ │ ├── inspect.html │ │ │ │ │ ├── jQuery │ │ │ │ │ ├── jquery-1.3.2.min.js │ │ │ │ │ ├── jquery-ui-1.7.custom.min.js │ │ │ │ │ ├── jquery.hotkeys-0.7.8.js │ │ │ │ │ ├── jquery.tablesorter.mod.js │ │ │ │ │ └── ui.resizable.css │ │ │ │ │ ├── js │ │ │ │ │ └── coder_app.js │ │ │ │ │ ├── leaf-last.gif │ │ │ │ │ ├── leaf.gif │ │ │ │ │ ├── matlab-report-styles.css │ │ │ │ │ ├── mhighlight.css │ │ │ │ │ ├── nav.html │ │ │ │ │ ├── navToolbar.html │ │ │ │ │ ├── nolines_minus.gif │ │ │ │ │ ├── nolines_plus.gif │ │ │ │ │ ├── range_highlighter.js │ │ │ │ │ ├── right_arrow.gif │ │ │ │ │ ├── rtwannotate.js │ │ │ │ │ ├── rtwhilite.js │ │ │ │ │ ├── rtwmsg.html │ │ │ │ │ ├── rtwreport.css │ │ │ │ │ ├── rtwreport_utils.js │ │ │ │ │ ├── rtwshrink.js │ │ │ │ │ ├── search.js │ │ │ │ │ ├── spinner.gif │ │ │ │ │ ├── status_failed.png │ │ │ │ │ ├── status_passed.png │ │ │ │ │ ├── status_warning.png │ │ │ │ │ ├── tablesorter_bkgrd.png │ │ │ │ │ ├── texture_blue.png │ │ │ │ │ ├── texture_gray1.png │ │ │ │ │ ├── texture_gray2.png │ │ │ │ │ └── webview_codegen.js │ │ │ ├── emlReportAccessInfo.mat │ │ │ ├── s5hfGMMsOwuq758RY5Gu7wH.mat │ │ │ ├── s8O5T7cnZ7DVXEdtKhXLGNC.mat │ │ │ ├── s8zmkegXsfO50URa6BmGKNG.mat │ │ │ ├── sCDebTYANE70Q04ryrTb2k.mat │ │ │ ├── sG4zogecIidwNrRgu04JLXC.mat │ │ │ ├── saiEZXQ24moC3b1taOxXdwE.mat │ │ │ ├── sbo8M8oupfSJyvTLL36B0qD.mat │ │ │ ├── snhfWKMVWgvG0wzQVoyA5eE.mat │ │ │ └── spG8Rs0rIJCwNdRx7Aw6dsH.mat │ │ │ ├── magLev_sim │ │ │ └── _self │ │ │ │ └── sfun │ │ │ │ ├── info │ │ │ │ └── binfo.mat │ │ │ │ └── src │ │ │ │ ├── c1_magLev_sim.c │ │ │ │ ├── c1_magLev_sim.h │ │ │ │ ├── c1_magLev_sim.obj │ │ │ │ ├── ji │ │ │ │ ├── early_c1_s5hfGMMsOwuq758RY5Gu7wH.mat │ │ │ │ ├── early_c1_s8O5T7cnZ7DVXEdtKhXLGNC.mat │ │ │ │ └── early_c1_s8zmkegXsfO50URa6BmGKNG.mat │ │ │ │ ├── magLev_sim_sfun.bat │ │ │ │ ├── magLev_sim_sfun.c │ │ │ │ ├── magLev_sim_sfun.exp │ │ │ │ ├── magLev_sim_sfun.h │ │ │ │ ├── magLev_sim_sfun.lib │ │ │ │ ├── magLev_sim_sfun.mak │ │ │ │ ├── magLev_sim_sfun.map │ │ │ │ ├── magLev_sim_sfun.mexw64.manifest │ │ │ │ ├── magLev_sim_sfun.mol │ │ │ │ ├── magLev_sim_sfun.obj │ │ │ │ ├── magLev_sim_sfun_debug_macros.h │ │ │ │ ├── magLev_sim_sfun_registry.c │ │ │ │ ├── magLev_sim_sfun_registry.obj │ │ │ │ ├── multiword_types.h │ │ │ │ ├── rtwtypes.h │ │ │ │ └── rtwtypeschksum.mat │ │ │ └── precompile │ │ │ ├── 11Ef0ncvNaEZIqLLIk7iYD.mat │ │ │ ├── 12oKLu5Anhm9xurM5wRhPE.mat │ │ │ ├── DwcmP8ZwCSdu4lOXfilBRC.mat │ │ │ ├── HmqJDZcAfnHhRWwPJBnQfC.mat │ │ │ ├── IcSLA5xO8aeXAeH68LAoIE.mat │ │ │ ├── K2BZucHLGgnAPw756xcyqG.mat │ │ │ ├── K2lU8TpDypPWU2axUYRqxD.mat │ │ │ ├── NdbPN2upyG7SP10OmVUqJH.mat │ │ │ ├── OxlMylTSxNki1p9gqGOyzE.mat │ │ │ ├── UpSR9dSQ2WdH92tZTShKLB.mat │ │ │ ├── autoInferAccessInfo.mat │ │ │ ├── dc0Ys7yRVOW1QIy8PlLQ6E.mat │ │ │ ├── hanx4Sw9i1dch8lg75O6W.mat │ │ │ ├── hy0vhgWi3497sgUtq7FPiC.mat │ │ │ ├── nMWCuqgNEClhCvb57RpSkE.mat │ │ │ ├── nNGSSoliVD9ZQt82TUOxdB.mat │ │ │ ├── pUbUf8NMCauKQyF00RaDoB.mat │ │ │ ├── sdVCPtoPs861EDPHz6SZ8B.mat │ │ │ └── yufR0nvLcjWl0Il1zMJZ1F.mat │ │ └── supportTools │ │ ├── getIntegrator.m │ │ ├── linearize.m │ │ └── trim.m ├── aerospace-feedbacks │ ├── Pitch_SAS_Design.m │ ├── dryden-vs-von-karman-wind-model │ │ ├── Plot_result │ │ │ ├── dryVSvk_V_light.eps │ │ │ ├── dryVSvk_V_moderate.eps │ │ │ ├── dryVSvk_V_severe.eps │ │ │ ├── dryVSvk_W_light.eps │ │ │ ├── dryVSvk_W_moderate.eps │ │ │ ├── dryVSvk_W_severe.eps │ │ │ └── plotResult.m │ │ ├── comparingModels.m │ │ ├── computeMean_Variance.m │ │ ├── initTurbulenceParameters.m │ │ ├── turbulence_DrydenModel.slx │ │ └── turbulence_VonKarmanModel.slx │ ├── effect_q_alpha_feedback.m │ ├── modal-decomposition │ │ ├── F16_lateral_modes.m │ │ └── LTI_modal_analysis.m │ ├── roll-yaw-damper-design │ │ ├── Roll_Yaw_Damper_Design.m │ │ ├── SAS_noSAS.slx │ │ ├── slprj │ │ │ ├── grt │ │ │ │ └── untitled │ │ │ │ │ └── tmwinternal │ │ │ │ │ └── minfo.mat │ │ │ └── sl_proj.tmw │ │ └── untitled_grt_rtw │ │ │ └── build_exception.mat │ └── von-karman-simulation │ │ ├── Main_turbulence_vonKarman.m │ │ ├── Turbulence_VonKarman.slx │ │ ├── compute_variance.m │ │ └── init.mat ├── classical-controls │ ├── Controller_Design_1.m │ ├── Controller_Design_2.m │ ├── Lead_Lag_compensator.m │ ├── PID_Controller.m │ ├── Parameter_Sensitivity_via_RootLocus.m │ ├── RootLocus_example_1.m │ ├── RootLocus_example_2.m │ ├── RootLocus_stack_tf.m │ ├── Second_Order_System.m │ ├── gain-phase-analysis.m │ └── sensitivity_analysis.m └── explicit-and-implicit-integrators │ ├── Explicit and Implicit Integrators.pdf │ ├── IEU.m │ ├── RK4.m │ ├── main.m │ └── van_der_pol.m ├── differential-algebraic-equation ├── consistency │ └── rootFinding_3Dpendulum_DAE.m ├── optimization │ ├── OCP_DAE_direct_collocation.m │ ├── OCP_DAE_multiple_shooting.m │ └── OCP_DAE_quadcopter_periodic │ │ ├── casadi_struct.m │ │ ├── casadi_struct2vec.m │ │ ├── casadi_vec.m │ │ ├── casadi_vec2struct.m │ │ ├── main.m │ │ ├── simpleColl.m │ │ └── skew.m └── simulation │ ├── DAE_boiling_glogg.m │ ├── DAE_delta_robot.m │ ├── cart-paperplane-idas │ ├── VisualizePlaneCart_2014b.m │ └── main.m │ ├── cart-paperplane-multi-node │ ├── DAE_PlaneCart.pdf │ ├── VisualizeMultiNode.m │ ├── VisualizeMultiNodeSim.m │ ├── casadi_struct.m │ ├── casadi_struct2vec.m │ ├── casadi_vec.m │ ├── casadi_vec2struct.m │ ├── main_optimization.m │ ├── main_simulation.m │ ├── simpleColl.m │ ├── skew.m │ ├── video_optimization.mp4 │ └── video_simulation.mp4 │ └── cart-paperplane-ode15i │ ├── CartPlaneModel.m │ ├── VisualizePlaneCart_2014a.m │ ├── VisualizePlaneCart_2014b.m │ ├── getGraphsPlaneCart.m │ └── main.m ├── linearization-simulation ├── NLsimulation_RK4.m ├── PaperPlane_ode45.m ├── VTOL_fsolve.m ├── chemical_reactor_sym.m ├── maglev_casadi.m └── symbolic-linearization │ ├── Main.m │ ├── getDimension.m │ ├── getEquilibrium.m │ ├── getLinearise.m │ ├── getModel.m │ ├── linearise.m │ ├── ode.m │ └── parameters.mat ├── miscellaneous-casADi ├── HSL-library │ ├── LibraryHSL_win_X64.zip │ ├── LibraryHSL_win_X86.zip │ └── Set_Path_HSL.PNG ├── code-generation │ ├── CodeGenerationExample1.m │ ├── gen1.c │ ├── gen1.mexw64 │ ├── gen2.c │ ├── magLev_GS_sim_grt_rtw │ │ └── build_exception.mat │ └── slprj │ │ ├── _sfprj │ │ └── magLev_GS_sim │ │ │ └── _self │ │ │ └── rtw │ │ │ └── grt │ │ │ ├── info │ │ │ └── binfo.mat │ │ │ └── src │ │ │ ├── c1_magLev_GS_sim.tlc │ │ │ ├── c1_magLev_GS_sim.tlh │ │ │ ├── c2_magLev_GS_sim.tlc │ │ │ ├── c2_magLev_GS_sim.tlh │ │ │ ├── magLev_GS_sim_rtw.tlc │ │ │ └── magLev_GS_sim_rtw.tlh │ │ ├── grt │ │ ├── _sharedutils │ │ │ └── shared_file.dmr │ │ └── magLev_GS_sim │ │ │ └── tmwinternal │ │ │ └── minfo.mat │ │ └── sl_proj.tmw ├── demo │ ├── MyCallback.m │ ├── casadiDemo.m │ ├── golf_demo_MX.m │ ├── golf_demo_SX.m │ ├── main_Homotopy.m │ ├── main_callback.m │ └── sensitivity_analysis.m ├── doc │ ├── casadi-users_guide.pdf │ └── casadi30_calling.pdf └── simulink-interface │ ├── Interpreted-matlab-fcn │ ├── IntMatlabFcn_sim.slx │ ├── IntMatlabFcn_sim_sfun.mexw64 │ └── main_IntMatlabFcn.m │ └── matlab-system │ ├── casadi_block.m │ └── mpc_demo.slx ├── newton-methods ├── NewtonMethod.pdf ├── Rosenbrock_casadi.m ├── Rosenbrock_fmincon.m └── Rosenbrock_homemade.m ├── nmpc-acado ├── .DS_Store ├── inverted-pendulum-set-point │ ├── .DS_Store │ ├── exercise.pdf │ ├── export_MPC │ │ ├── Makefile │ │ ├── acado_auxiliary_functions.c │ │ ├── acado_auxiliary_functions.h │ │ ├── acado_common.h │ │ ├── acado_integrator.c │ │ ├── acado_qpoases_interface.cpp │ │ ├── acado_qpoases_interface.hpp │ │ ├── acado_solver.c │ │ ├── acado_solver_mex.c │ │ ├── acado_solver_sfunction.c │ │ ├── acado_solver_sfunction.h │ │ ├── make_acado_solver.m │ │ ├── make_acado_solver_sfunction.m │ │ ├── qpoases │ │ │ ├── EXAMPLES │ │ │ │ ├── example1.cpp │ │ │ │ └── example1b.cpp │ │ │ ├── INCLUDE │ │ │ │ ├── Bounds.hpp │ │ │ │ ├── Constants.hpp │ │ │ │ ├── Constraints.hpp │ │ │ │ ├── CyclingManager.hpp │ │ │ │ ├── EXTRAS │ │ │ │ │ └── SolutionAnalysis.hpp │ │ │ │ ├── Indexlist.hpp │ │ │ │ ├── MessageHandling.hpp │ │ │ │ ├── QProblem.hpp │ │ │ │ ├── QProblemB.hpp │ │ │ │ ├── SubjectTo.hpp │ │ │ │ ├── Types.hpp │ │ │ │ └── Utils.hpp │ │ │ ├── LICENSE.txt │ │ │ ├── README.txt │ │ │ ├── SRC │ │ │ │ ├── Bounds.cpp │ │ │ │ ├── Bounds.ipp │ │ │ │ ├── Constraints.cpp │ │ │ │ ├── Constraints.ipp │ │ │ │ ├── CyclingManager.cpp │ │ │ │ ├── CyclingManager.ipp │ │ │ │ ├── EXTRAS │ │ │ │ │ └── SolutionAnalysis.cpp │ │ │ │ ├── Indexlist.cpp │ │ │ │ ├── Indexlist.ipp │ │ │ │ ├── MessageHandling.cpp │ │ │ │ ├── MessageHandling.ipp │ │ │ │ ├── QProblem.cpp │ │ │ │ ├── QProblem.ipp │ │ │ │ ├── QProblemB.cpp │ │ │ │ ├── QProblemB.ipp │ │ │ │ ├── SubjectTo.cpp │ │ │ │ ├── SubjectTo.ipp │ │ │ │ ├── Utils.cpp │ │ │ │ └── Utils.ipp │ │ │ └── VERSIONS.txt │ │ └── test.c │ ├── export_SIM │ │ ├── Makefile │ │ ├── acado_auxiliary_sim_functions.c │ │ ├── acado_auxiliary_sim_functions.h │ │ ├── acado_common.h │ │ ├── acado_compare.c │ │ ├── acado_integrate.c │ │ ├── acado_integrator.c │ │ └── make_acado_integrator.m │ ├── main.m │ ├── mpc_RUN.m │ ├── mpc_data_acadodata_M1.txt │ ├── mpc_data_acadodata_M2.txt │ ├── sim_RUN.m │ └── visualize.m ├── magnetic-levitator │ ├── .DS_Store │ ├── modello_levitatore.pdf │ ├── set-point │ │ ├── .DS_Store │ │ ├── export_MPC │ │ │ ├── Makefile │ │ │ ├── acado_auxiliary_functions.c │ │ │ ├── acado_auxiliary_functions.h │ │ │ ├── acado_common.h │ │ │ ├── acado_integrator.c │ │ │ ├── acado_qpoases_interface.cpp │ │ │ ├── acado_qpoases_interface.hpp │ │ │ ├── acado_solver.c │ │ │ ├── acado_solver_mex.c │ │ │ ├── acado_solver_sfunction.c │ │ │ ├── acado_solver_sfunction.h │ │ │ ├── make_acado_solver.m │ │ │ ├── make_acado_solver_sfunction.m │ │ │ ├── qpoases │ │ │ │ ├── EXAMPLES │ │ │ │ │ ├── example1.cpp │ │ │ │ │ └── example1b.cpp │ │ │ │ ├── INCLUDE │ │ │ │ │ ├── Bounds.hpp │ │ │ │ │ ├── Constants.hpp │ │ │ │ │ ├── Constraints.hpp │ │ │ │ │ ├── CyclingManager.hpp │ │ │ │ │ ├── EXTRAS │ │ │ │ │ │ └── SolutionAnalysis.hpp │ │ │ │ │ ├── Indexlist.hpp │ │ │ │ │ ├── MessageHandling.hpp │ │ │ │ │ ├── QProblem.hpp │ │ │ │ │ ├── QProblemB.hpp │ │ │ │ │ ├── SubjectTo.hpp │ │ │ │ │ ├── Types.hpp │ │ │ │ │ └── Utils.hpp │ │ │ │ ├── LICENSE.txt │ │ │ │ ├── README.txt │ │ │ │ ├── SRC │ │ │ │ │ ├── Bounds.cpp │ │ │ │ │ ├── Bounds.ipp │ │ │ │ │ ├── Constraints.cpp │ │ │ │ │ ├── Constraints.ipp │ │ │ │ │ ├── CyclingManager.cpp │ │ │ │ │ ├── CyclingManager.ipp │ │ │ │ │ ├── EXTRAS │ │ │ │ │ │ └── SolutionAnalysis.cpp │ │ │ │ │ ├── Indexlist.cpp │ │ │ │ │ ├── Indexlist.ipp │ │ │ │ │ ├── MessageHandling.cpp │ │ │ │ │ ├── MessageHandling.ipp │ │ │ │ │ ├── QProblem.cpp │ │ │ │ │ ├── QProblem.ipp │ │ │ │ │ ├── QProblemB.cpp │ │ │ │ │ ├── QProblemB.ipp │ │ │ │ │ ├── SubjectTo.cpp │ │ │ │ │ ├── SubjectTo.ipp │ │ │ │ │ ├── Utils.cpp │ │ │ │ │ └── Utils.ipp │ │ │ │ └── VERSIONS.txt │ │ │ └── test.c │ │ ├── export_SIM │ │ │ ├── Makefile │ │ │ ├── acado_auxiliary_sim_functions.c │ │ │ ├── acado_auxiliary_sim_functions.h │ │ │ ├── acado_common.h │ │ │ ├── acado_compare.c │ │ │ ├── acado_integrate.c │ │ │ ├── acado_integrator.c │ │ │ └── make_acado_integrator.m │ │ ├── main.m │ │ ├── mpc_data_acadodata_M1.txt │ │ └── mpc_data_acadodata_M2.txt │ ├── tracking │ │ ├── .DS_Store │ │ ├── main.m │ │ ├── mpc_data_acadodata_M1.txt │ │ ├── mpc_data_acadodata_M2.txt │ │ └── sine_fun.m │ └── zero-regulation │ │ ├── .DS_Store │ │ ├── main.m │ │ ├── mpc_data_acadodata_M1.txt │ │ └── mpc_data_acadodata_M2.txt └── vertical-take-off-landing-aircraft │ ├── .DS_Store │ ├── main.m │ ├── mpc_data_acadodata_M1.txt │ └── mpc_data_acadodata_M2.txt ├── non-linear-programming ├── SimpleLP.m ├── nlpChain.m ├── nlpRosenbrock.m └── nlpRosenbrock2.m ├── optimal-control ├── direct-collocation │ ├── Direct_Collocation_VTOL.m │ ├── Direct_Collocation_VanDerPol.m │ └── direct-collocation-shooting │ │ ├── collocation.m │ │ ├── direct_Collocation_Shooting_mimo.m │ │ └── test_collocation.m ├── direct-multiple-shooting │ ├── DMS_Double_Integrator.m │ ├── DMS_VTOL.m │ ├── DMS_VTOL_Time_Optimal.m │ ├── DMS_VTOL_callback.m │ ├── DMS_VanDerPol.m │ ├── DMS_rocket_Time_Optimal.m │ └── MyCallback.m ├── direct-single-multiple-shooting-fmincon │ ├── RK4_integrator.m │ ├── constr_multiple.m │ ├── constr_single.m │ ├── cost_multiple.m │ ├── cost_single.m │ ├── hessian_multiple.m │ ├── hessian_single.m │ ├── main.m │ ├── ode.m │ └── rk4_step.m ├── direct-single-shooting │ ├── direct_single_shooting_rocket.m │ ├── direct_single_shooting_v1.m │ └── direct_single_shooting_v2.m └── dynamic-programming │ └── main_DP.m ├── system-identification ├── casadi │ ├── InputOutput_sysid_casadi.m │ ├── Lotka_Volterra_weighted.m │ ├── sysid_casadi.m │ ├── sysid_mimo_casadi.m │ ├── sysid_mimo_casadi_320.m │ └── sysid_mimo_casadi_multifit.m ├── matlab │ ├── IOEM_lsqnonlin.m │ ├── OEM_lsqnonlin.m │ ├── Unemployment_Rate_US.m │ ├── arx_pem.m │ ├── simple_EEM.m │ └── simple_LLS.m ├── optistack │ ├── output_error_optistack.m │ └── sysid_optistack.m └── python │ └── lorenz_system.py └── virtual-sensing ├── main.m ├── ukf.m └── ukfilter.m /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 | -------------------------------------------------------------------------------- /.idea/.gitignore: -------------------------------------------------------------------------------- 1 | # Default ignored files 2 | /shelf/ 3 | /workspace.xml 4 | # Datasource local storage ignored files 5 | /dataSources/ 6 | /dataSources.local.xml 7 | # Editor-based HTTP Client requests 8 | /httpRequests/ 9 | -------------------------------------------------------------------------------- /.idea/control-theory.iml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /.idea/csv-plugin.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 15 | 16 | -------------------------------------------------------------------------------- /.idea/inspectionProfiles/profiles_settings.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 6 | -------------------------------------------------------------------------------- /.idea/misc.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /.idea/modules.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /.idea/vcs.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /MPC/command-governor/autopilot/CG.m: -------------------------------------------------------------------------------- 1 | function g = CG(r,x,Psi, A_Wd, b_Wd, Ax_Vx, AW_Vx, b_Vx) 2 | %CG Calculate the reference signal of the Command Governor 3 | % w = CG(r,x,PSI,A_Wd, b_Wd, Ax_Vx, AW_Vx, b_Vx) 4 | % where: 5 | % r: original reference to track; 6 | % x: current value of state vector; 7 | % 8 | % PSI: 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| % end 11 | % 12 | % RKC=Hc*Rkl+L; 13 | x=Phi*x+G*W; 14 | V1=[V1 T*Hc*x+T*L*W<=g]; 15 | end 16 | dt=[]; 17 | for n=1:length(g) 18 | dt=[dt; norm(T(n,:),2)]; 19 | end 20 | V2= T*(Hc/((eye(dimSys)-Phi))*G+L)*W<=g-delta*dt; 21 | V=[V1,V2]; 22 | solvesdp(V,(W-r)'*Psi*(W-r), ops) 23 | g = double(W) -------------------------------------------------------------------------------- /MPC/command-governor/servo-mechanism/readme.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/MPC/command-governor/servo-mechanism/readme.pdf -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - MPC/Chaos.jpg: -------------------------------------------------------------------------------- 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chaotic system. 2 | master: chua's circuit with polynomial non linearity 3 | slavel: Lorenz attractor 4 | 5 | -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - MPC/MPC_Controller.m: -------------------------------------------------------------------------------- 1 | function control = MPC_Controller(x,mpc) 2 | %load MPC_MPT 3 | control = mpc.evaluate(x); 4 | end -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - MPC/main_sim.m: -------------------------------------------------------------------------------- 1 | % main_ChaosSynch 2 | clc;clear all;close all; 3 | x0 = [0.02;0.05;0.04;0.0;1.0;0.0]; % initial state 4 | u = [0;0;0]; 5 | 6 | T = 40;N = 4000;Ts = T/N; 7 | %% Nonlinear simulation using the RK4 integrator 8 | x_rk4 = x0; 9 | input.Ts = Ts; 10 | input.nSteps = 2; 11 | input.u = u; 12 | t_rk4 = [0:N].*Ts; 13 | for i = 1:N 14 | input.x = x_rk4(:,end); 15 | output = RK4_integrator( @ode, input ); 16 | x_rk4(:,end+1) = output.value; 17 | end 18 | 19 | u = zeros(3,N+1); 20 | visualizeChua(t_rk4,x_rk4,u) -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - MPC/ode.m: -------------------------------------------------------------------------------- 1 | function dx = ode(t,x,u) 2 | %% Master: Chua circuit poly - Slave: Lorenz System 3 | % master: chua's circuit poly 4 | % slave : Lorenz System 5 | 6 | p = 10;q = 100/7; % slave system parameter 7 | a = 28;b = 10;c = 8/3; % master system parameter 8 | 9 | x1 = x(1);y1 = x(2);z1 = x(3); % master sys states 10 | x2 = x(4);y2 = x(5);z2 = x(6); % slave sys states 11 | 12 | ux = u(1);uy = u(2); uz = u(3); % control to slave system 13 | 14 | f_x1 = 2*x1^3 - x1/7; % non linearity master sys 15 | 16 | dx = [p*(y1-f_x1); % Chua poly : f1 17 | x1-y1+z1; % Chua poly : f2 18 | -q*y1; % Chua poly : f3 19 | b*(y2-x2)+ux; % Lorenz : f1 20 | x2*(a-z2)-y2+uy; % Lorenz : f2 21 | x2*y2-c*z2+uz % Lorenz : f3 22 | ]; 23 | end 24 | -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - MPC/ode2.m: -------------------------------------------------------------------------------- 1 | function dx = ode(t,x,u) 2 | %% Master: Chua's circuit piece-wise - Slave : chua's circuit poly 3 | alpha = 15.6;beta = 28;m0 = -1.143;m1 = -0.714; % master system parameter 4 | p = 10;q = 100/7; % slave system parameter 5 | 6 | x1 = x(1);y1 = x(2);z1 = x(3); % master sys states 7 | x2 = x(4);y2 = x(5);z2 = x(6); % slave sys states 8 | 9 | ux = u(1);uy = u(2); uz = u(3); % control to slave system 10 | 11 | f_x1 = m1*x1+0.5*(m0-m1)*(abs(x1+1)-abs(x1-1)); % non linearita master 12 | f_x2 = 2*x2^3 - x2/7; % non linearity master sys 13 | 14 | dx = [alpha*(y1-x1-f_x1);% 15 | x1 - y1+ z1; 16 | -beta*y1 17 | p*(y2-f_x2)+ux; 18 | x2-y2+z2+uy; 19 | -q*y2+uz]; 20 | end 21 | -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - MPC/ode3.m: -------------------------------------------------------------------------------- 1 | function dx = ode(t,x,u) 2 | %% Master: Lorenz - Slave: Chua poly 3 | % master: Lorenz System 4 | % slave : chua's circuit poly 5 | sigma = 10;xi = 28;b = 8/3; % master system parameter 6 | p = 10;q = 100/7; % slave system parameter 7 | 8 | x1 = x(1);y1 = x(2);z1 = x(3); % master sys states 9 | x2 = x(4);y2 = x(5);z2 = x(6); % slave sys states 10 | 11 | ux = u(1);uy = u(2); uz = u(3); % control to slave system 12 | 13 | f_x2 = 2*x2^3 - x2/7; % non linearity slave sys 14 | 15 | dx = [sigma*(y1-x1); % Lorenz f1 16 | xi*x1-y1-x1*z1; % Lorenz f2 17 | x1*y1-b*z1; % Lorenz f3 18 | p*(y2-f_x2)+ux; % Chua poly f1 19 | x2-y2+z2+uy; % Chua poly f2 20 | -q*y2+uz]; % Chua poly f3 21 | end 22 | -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/Chaos.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/Chaos.jpg -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/ChauMultipleRobustMPC.slx: -------------------------------------------------------------------------------- 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function control = MPC_Controller(x,mpc) 2 | %load MPC_MPT 3 | control = mpc.evaluate(x); 4 | end -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/RobustMPC_No_Noise.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/RobustMPC_No_Noise.mat -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/RobustMPC_Noise.mat: -------------------------------------------------------------------------------- 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18 | x2-y2+z2+uy; 19 | -q*y2+uz]; 20 | end 21 | -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/ode_V1.m: -------------------------------------------------------------------------------- 1 | function dx = ode_V1(t,x,u) 2 | % uncertainty to slave system 3 | % nominal parameter: p = 10; q = 100/7; 4 | 5 | alpha = 15.6;beta = 28;m0 = -1.143;m1 = -0.714; % Master: Chua's circuit Parameters 6 | ps = 10-1; qs = 100/7-1; % Vertex1: slave system parameter 7 | 8 | x1 = x(1);y1 = x(2);z1 = x(3); 9 | 10 | x2 = x(4);y2 = x(5);z2 = x(6); 11 | ux = u(1);uy = u(2); uz = u(3); 12 | 13 | f_x1 = m1*x1+0.5*(m0-m1)*(abs(x1+1)-abs(x1-1)); % non linearita master 14 | f_x2 = 2*x2^3 - x2/7; % non linearita slave 15 | 16 | dx = [alpha*(y1-x1-f_x1);% 17 | x1 - y1+ z1; 18 | -beta*y1; 19 | ps*(y2-f_x2)+ux; 20 | x2-y2+z2+uy; 21 | -qs*y2+uz]; 22 | end 23 | -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/ode_V2.m: -------------------------------------------------------------------------------- 1 | function dx = ode_V2(t,x,u) 2 | % uncertainty to slave system 3 | % nominal parameter: p = 10; q = 100/7; 4 | 5 | alpha = 15.6;beta = 28;m0 = -1.143;m1 = -0.714; % Master: Chua's circuit Parameters 6 | ps = 10-1; qs = 100/7+1; % Vertex2: slave system parameter 7 | 8 | x1 = x(1);y1 = x(2);z1 = x(3); 9 | 10 | x2 = x(4);y2 = x(5);z2 = x(6); 11 | ux = u(1);uy = u(2); uz = u(3); 12 | 13 | f_x1 = m1*x1+0.5*(m0-m1)*(abs(x1+1)-abs(x1-1)); % non linearita master 14 | f_x2 = 2*x2^3 - x2/7; % non linearita slave 15 | 16 | dx = [alpha*(y1-x1-f_x1);% 17 | x1 - y1+ z1; 18 | -beta*y1; 19 | ps*(y2-f_x2)+ux; 20 | x2-y2+z2+uy; 21 | -qs*y2+uz]; 22 | end -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/ode_V3.m: -------------------------------------------------------------------------------- 1 | function dx = ode_V3(t,x,u) 2 | % uncertainty to slave system 3 | % nominal parameter: p = 10; q = 100/7; 4 | 5 | alpha = 15.6;beta = 28;m0 = -1.143;m1 = -0.714; % Master: Chua's circuit Parameters 6 | ps = 10+1; qs = 100/7-1; % Vertex3: slave system parameter 7 | 8 | x1 = x(1);y1 = x(2);z1 = x(3); 9 | 10 | x2 = x(4);y2 = x(5);z2 = x(6); 11 | ux = u(1);uy = u(2); uz = u(3); 12 | 13 | f_x1 = m1*x1+0.5*(m0-m1)*(abs(x1+1)-abs(x1-1)); % non linearita master 14 | f_x2 = 2*x2^3 - x2/7; % non linearita slave 15 | 16 | dx = [alpha*(y1-x1-f_x1);% 17 | x1 - y1+ z1; 18 | -beta*y1; 19 | ps*(y2-f_x2)+ux; 20 | x2-y2+z2+uy; 21 | -qs*y2+uz]; 22 | end -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/ode_V4.m: -------------------------------------------------------------------------------- 1 | function dx = ode_V4(t,x,u) 2 | % uncertainty to slave system 3 | % nominal parameter: p = 10; q = 100/7; 4 | 5 | alpha = 15.6;beta = 28;m0 = -1.143;m1 = -0.714; % Master: Chua's circuit Parameters 6 | ps = 10+1; qs = 100/7+1; % Vertex4: slave system parameter 7 | 8 | x1 = x(1);y1 = x(2);z1 = x(3); 9 | 10 | x2 = x(4);y2 = x(5);z2 = x(6); 11 | ux = u(1);uy = u(2); uz = u(3); 12 | 13 | f_x1 = m1*x1+0.5*(m0-m1)*(abs(x1+1)-abs(x1-1)); % non linearita master 14 | f_x2 = 2*x2^3 - x2/7; % non linearita slave 15 | 16 | dx = [alpha*(y1-x1-f_x1);% 17 | x1 - y1+ z1; 18 | -beta*y1; 19 | ps*(y2-f_x2)+ux; 20 | x2-y2+z2+uy; 21 | -qs*y2+uz]; 22 | end -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaMultipleSynch - Robust MPC/slprj/_sfprj/ChauMultipleRobustMPC/_self/sfun/info/binfo.mat: 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LQR/Chua_LQr_sfun.mexw64: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaSync - LQR/Chua_LQr_sfun.mexw64 -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaSync - LQR/ode.m: -------------------------------------------------------------------------------- 1 | function dx = ode(t,x,u) 2 | p = 10;q = 100/7; % Parameters 3 | x1 = x(1);y1 = x(2);z1 = x(3); 4 | 5 | x2 = x(4);y2 = x(5);z2 = x(6); 6 | ux = u(1);uy = u(2); uz = u(3); 7 | 8 | f_x1 = 2*x1^3 - x1/7; 9 | f_x2 = 2*x2^3 - x2/7; 10 | 11 | dx = [p*(y1-f_x1); 12 | x1-y1+z1; 13 | -q*y1; 14 | p*(y2 - f_x2) + ux; 15 | x2 - y2 + z2 + uy; 16 | -q*y2 + uz; 17 | ]; 18 | end 19 | -------------------------------------------------------------------------------- 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f_x2) + ux; 15 | x2 - y2 + z2 + uy; 16 | -q*y2 + uz; 17 | ]; 18 | end 19 | -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaSync - MPC/slprj/_sfprj/Chua_MPC/_self/sfun/info/binfo.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaSync - MPC/slprj/_sfprj/Chua_MPC/_self/sfun/info/binfo.mat -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaSync - MPC/slprj/_sfprj/Chua_MPC/_self/sfun/info/chart1_KN1LlbzORKUw2asDPd0DbH.mat: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | function dx = ode(t,x,u,ps,qs) 2 | % nominal parameter: p = 10; q = 100/7; 3 | p = 10; 4 | q = 100/7; 5 | ps = 10; 6 | qs = 100/7; 7 | x1 = x(1);y1 = x(2);z1 = x(3); 8 | 9 | x2 = x(4);y2 = x(5);z2 = x(6); 10 | ux = u(1);uy = u(2); uz = u(3); 11 | 12 | f_x1 = 2*x1^3 - x1/7; 13 | f_x2 = 2*x2^3 - x2/7; 14 | 15 | dx = [p*(y1-f_x1); 16 | x1-y1+z1; 17 | -q*y1; 18 | ps*(y2 - f_x2) + ux; 19 | x2 - y2 + z2 + uy; 20 | -qs*y2 + uz; 21 | ]; 22 | end 23 | -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaSync - Robust MPC/ode_V1.m: -------------------------------------------------------------------------------- 1 | function dx = ode_V1(t,x,u) 2 | % uncertainty to slave system 3 | % nominal parameter: p = 10; q = 100/7; 4 | p = 10; q = 100/7; 5 | ps = 10-1; qs = 100/7-1; % Vertex1 6 | 7 | x1 = x(1); y1 = x(2); z1 = x(3); 8 | x2 = x(4); y2 = x(5); z2 = x(6); 9 | ux = u(1); uy = u(2); uz = u(3); 10 | 11 | f_x1 = 2*x1^3 - x1/7; 12 | f_x2 = 2*x2^3 - x2/7; 13 | 14 | dx = [p*(y1-f_x1); 15 | x1-y1+z1; 16 | -q*y1; 17 | ps*(y2 - f_x2) + ux; 18 | x2 - y2 + z2 + uy; 19 | -qs*y2 + uz; 20 | ]; 21 | end 22 | -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaSync - Robust MPC/ode_V2.m: -------------------------------------------------------------------------------- 1 | function dx = ode_V2(t,x,u) 2 | % uncertainty to slave system 3 | % nominal parameter: p = 10; q = 100/7; 4 | p = 10; q = 100/7; 5 | ps = 10-1; qs = 100/7+1; % Vertex2 6 | 7 | x1 = x(1); y1 = x(2); z1 = x(3); 8 | x2 = x(4); y2 = x(5); z2 = x(6); 9 | ux = u(1); uy = u(2); uz = u(3); 10 | 11 | f_x1 = 2*x1^3 - x1/7; 12 | f_x2 = 2*x2^3 - x2/7; 13 | 14 | dx = [p*(y1-f_x1); 15 | x1-y1+z1; 16 | -q*y1; 17 | ps*(y2 - f_x2) + ux; 18 | x2 - y2 + z2 + uy; 19 | -qs*y2 + uz; 20 | ]; 21 | end -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaSync - Robust MPC/ode_V3.m: -------------------------------------------------------------------------------- 1 | function dx = ode_V3(t,x,u) 2 | % uncertainty to slave system 3 | % nominal parameter: p = 10; q = 100/7; 4 | p = 10; q = 100/7; 5 | ps = 10+1; qs = 100/7-1; % Vertex3 6 | 7 | x1 = x(1); y1 = x(2); z1 = x(3); 8 | x2 = x(4); y2 = x(5); z2 = x(6); 9 | ux = u(1); uy = u(2); uz = u(3); 10 | 11 | f_x1 = 2*x1^3 - x1/7; 12 | f_x2 = 2*x2^3 - x2/7; 13 | 14 | dx = [p*(y1-f_x1); 15 | x1-y1+z1; 16 | -q*y1; 17 | ps*(y2 - f_x2) + ux; 18 | x2 - y2 + z2 + uy; 19 | -qs*y2 + uz; 20 | ]; 21 | end -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaSync - Robust MPC/ode_V4.m: -------------------------------------------------------------------------------- 1 | function dx = ode_V4(t,x,u) 2 | % uncertainty to slave system 3 | % nominal parameter: p = 10; q = 100/7; 4 | p = 10; q = 100/7; 5 | ps = 10+1; qs = 100/7+1; % Vertex4 6 | 7 | x1 = x(1); y1 = x(2); z1 = x(3); 8 | x2 = x(4); y2 = x(5); z2 = x(6); 9 | ux = u(1); uy = u(2); uz = u(3); 10 | 11 | f_x1 = 2*x1^3 - x1/7; 12 | f_x2 = 2*x2^3 - x2/7; 13 | 14 | dx = [p*(y1-f_x1); 15 | x1-y1+z1; 16 | -q*y1; 17 | ps*(y2 - f_x2) + ux; 18 | x2 - y2 + z2 + uy; 19 | -qs*y2 + uz; 20 | ]; 21 | end -------------------------------------------------------------------------------- /MPC/model-predictive-control/chaos-synchronization-with-mpc/ChuaSync - Robust MPC/slprj/_sfprj/Chua_MPC/_self/sfun/info/binfo.mat: -------------------------------------------------------------------------------- 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/automatic-controls/LQI-gain-scheduling/MagneticLevitation.m: -------------------------------------------------------------------------------- 1 | function [Fode,ode,y,x,u,nx,nu] = MagneticLevitation 2 | %% Get Magnetic Levitation System [symbolic] 3 | % Equilibrium point 4 | % ueq = 5; 5 | % xeq = [sqrt(Km/(m*g0))*(ueq/R);0;ueq/R]; 6 | import casadi.* 7 | 8 | nx = 3; 9 | nu = 1; 10 | 11 | g0 = 9.81; R = 50; L = 0.5; 12 | m = 0.02; Km = 19.62; b = 0.1; 13 | 14 | x = MX.sym('x',nx); 15 | x1 = x(1); % position [m] 16 | x2 = x(2); % velocity [m/s] 17 | x3 = x(3); % current [A] 18 | 19 | u = MX.sym('u' ,nu); % voltage [V] 20 | 21 | ode = [x2; 22 | g0-(b/m)*x2-(Km/m)*((x3/x1)^2); 23 | (1/(L+Km/x1))*(-R*x3+Km*(x2/(x1^2))+u)]; 24 | 25 | Fode = Function('ode',{x,u},{ode},char('x','u'),char('ode')); 26 | Fode.expand(); 27 | y = x1; % measure position 28 | disp('Magnetic Levitation system created') 29 | end -------------------------------------------------------------------------------- /automatic-controls/LQI-gain-scheduling/Visualize/updatePlot.m: -------------------------------------------------------------------------------- 1 | function updatePlot(xsim,usim,time,plot_p,plot_v,plot_i,plot_u,plot_Ball) 2 | 3 | position = round(xsim(:,1),3); 4 | velocity = round(xsim(:,2),3); 5 | current = round(xsim(:,3),3); 6 | voltage = round(usim(:,1),3); 7 | 8 | set(plot_p , 'XData', time); 9 | set(plot_p , 'YData', position); 10 | set(plot_v , 'XData', time); 11 | set(plot_v , 'YData', velocity); 12 | set(plot_i , 'XData', time); 13 | set(plot_i , 'YData', current); 14 | set(plot_u , 'XData', time); 15 | set(plot_u , 'YData', voltage); 16 | set(plot_Ball, 'XData', 0); 17 | set(plot_Ball, 'YData', position(end)); 18 | drawnow 19 | end -------------------------------------------------------------------------------- /automatic-controls/LQI-gain-scheduling/magLev_GS_sim.slx: -------------------------------------------------------------------------------- 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[~,~,Ci,~] = ssdata(sysInt); % Controllable canonical form 9 | 10 | sysFb = ss(sys.A-sys.B*K_fb,sys.B,sys.C,sys.D); 11 | sysSe = series(sysInt, sysFb,1,1); 12 | sysCL = feedback(sysSe,1,1,1); 13 | 14 | %H = [sysCL.C;zeros(length(1),nx),Ci]; % yCL = H*[y;u] PID/Compensator case 15 | H = [sysCL.C;-K_fb,Ci]; % yCL = H*[y;u] LQI case 16 | nh = size(H,1); 17 | 18 | Phi = sysCL.a; 19 | G = sysCL.b; 20 | L = [sysCL.d; zeros(nh-1,1)]; 21 | end 22 | 23 | -------------------------------------------------------------------------------- /automatic-controls/LQI-gain-scheduling/slprj/_jitprj/jitEngineAccessInfo.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/automatic-controls/LQI-gain-scheduling/slprj/_jitprj/jitEngineAccessInfo.mat -------------------------------------------------------------------------------- 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Function('one_sample',{x,u},{X},char('x(k)','u(k)'),char('x(k+1)')); 17 | % speedup trick: expand into scalar operations 18 | Integrator = Integrator.expand(); 19 | end 20 | -------------------------------------------------------------------------------- /automatic-controls/PID-gain-scheduling/magnetic-levitator/supportTools/trim.m: -------------------------------------------------------------------------------- 1 | function [xeq,ueq] = trim(dx,w,w0,wmin,wmax,nx) 2 | import casadi.* 3 | %% Trim model 4 | Fw = dx'*dx; 5 | nlp = struct('x',w, 'f',Fw); 6 | solver = nlpsol('solver','ipopt', nlp); 7 | sol = solver('x0', w0, 'lbx', wmin, 'ubx', wmax); % trim 8 | 9 | if(full(sol.f)0 20 | e = varargin{2*found}; 21 | if isscalar(e) 22 | dims = size(s.(k)); 23 | e = repmat(e,dims(1),dims(2)); 24 | end 25 | dims = size(s.(k)); 26 | assert(size(e,1)==dims(1)) 27 | assert(size(e,2)==dims(2)) 28 | else 29 | dims = size(s.(k)); 30 | e = default*DM.ones(dims(1),dims(2)); 31 | end 32 | out.(k) = e; 33 | end 34 | end -------------------------------------------------------------------------------- /differential-algebraic-equation/optimization/OCP_DAE_quadcopter_periodic/casadi_struct2vec.m: -------------------------------------------------------------------------------- 1 | function [out] = casadi_struct2vec(s) 2 | flat = {}; 3 | if isstruct(s) 4 | for f=fieldnames(s)' 5 | flat = {flat{:} casadi_struct2vec(s.(f{1}))}; 6 | end 7 | out = vertcat(flat{:}); 8 | else if iscell(s) 9 | for i=1:length(s) 10 | flat = {flat{:} casadi_struct2vec(s{i})}; 11 | end 12 | out = vertcat(flat{:}); 13 | else 14 | try 15 | out = vec(s); 16 | catch 17 | import casadi.* 18 | out = vec(DM(s)); 19 | end 20 | end 21 | end -------------------------------------------------------------------------------- /differential-algebraic-equation/optimization/OCP_DAE_quadcopter_periodic/casadi_vec.m: -------------------------------------------------------------------------------- 1 | function [out] = casadi_vec(varargin) 2 | out = casadi_struct2vec(casadi_struct(varargin{:})); 3 | end 4 | -------------------------------------------------------------------------------- /differential-algebraic-equation/optimization/OCP_DAE_quadcopter_periodic/skew.m: -------------------------------------------------------------------------------- 1 | function [ R ] = skew( w ) 2 | x = w(1); 3 | y = w(2); 4 | z = w(3); 5 | R = [0,-z,y;z,0,-x;-y,x,0]; 6 | end 7 | 8 | -------------------------------------------------------------------------------- /differential-algebraic-equation/simulation/cart-paperplane-multi-node/DAE_PlaneCart.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/differential-algebraic-equation/simulation/cart-paperplane-multi-node/DAE_PlaneCart.pdf -------------------------------------------------------------------------------- /differential-algebraic-equation/simulation/cart-paperplane-multi-node/casadi_struct.m: -------------------------------------------------------------------------------- 1 | function [out] = casadi_struct(s,varargin) 2 | if ischar(varargin{1}) 3 | default = 0; 4 | else 5 | default = varargin{1}; 6 | varargin = varargin(2:end); 7 | end 8 | import casadi.* 9 | out = struct; 10 | for k=fieldnames(s)' 11 | k = k{1}; 12 | found = -1; 13 | for l=1:length(varargin)/2 14 | if strcmp(varargin{2*l-1},k) 15 | found = l; 16 | break; 17 | end 18 | end 19 | if found>0 20 | e = varargin{2*found}; 21 | if isscalar(e) 22 | dims = size(s.(k)); 23 | e = repmat(e,dims(1),dims(2)); 24 | end 25 | dims = size(s.(k)); 26 | assert(size(e,1)==dims(1)) 27 | assert(size(e,2)==dims(2)) 28 | else 29 | dims = size(s.(k)); 30 | e = default*DM.ones(dims(1),dims(2)); 31 | end 32 | out.(k) = e; 33 | end 34 | end -------------------------------------------------------------------------------- /differential-algebraic-equation/simulation/cart-paperplane-multi-node/casadi_struct2vec.m: -------------------------------------------------------------------------------- 1 | function [out] = casadi_struct2vec(s) 2 | flat = {}; 3 | if isstruct(s) 4 | for f=fieldnames(s)' 5 | flat = {flat{:} casadi_struct2vec(s.(f{1}))}; 6 | end 7 | out = vertcat(flat{:}); 8 | else if iscell(s) 9 | for i=1:length(s) 10 | flat = {flat{:} casadi_struct2vec(s{i})}; 11 | end 12 | out = vertcat(flat{:}); 13 | else 14 | try 15 | out = vec(s); 16 | catch 17 | import casadi.* 18 | out = vec(DM(s)); 19 | end 20 | end 21 | end -------------------------------------------------------------------------------- /differential-algebraic-equation/simulation/cart-paperplane-multi-node/casadi_vec.m: -------------------------------------------------------------------------------- 1 | function [out] = casadi_vec(varargin) 2 | out = casadi_struct2vec(casadi_struct(varargin{:})); 3 | end 4 | -------------------------------------------------------------------------------- /differential-algebraic-equation/simulation/cart-paperplane-multi-node/casadi_vec2struct.m: -------------------------------------------------------------------------------- 1 | function [out] = casadi_vec2struct(s,vec) 2 | import casadi.* 3 | assert(isvector(vec)) 4 | try 5 | vec.sparsity(); 6 | catch 7 | vec = DM(vec); 8 | end 9 | flat = {}; 10 | if isstruct(s) 11 | out = struct; 12 | sizes = {0}; 13 | for f=fieldnames(s)' 14 | dim = size(casadi_struct2vec(s.(f{1}))); 15 | sizes = {sizes{:} sizes{end}+dim(1)}; 16 | end 17 | comps = vertsplit(vec,sizes); 18 | i = 1; 19 | for f=fieldnames(s)' 20 | out.(f{1}) = casadi_vec2struct(s.(f{1}),comps{i}); 21 | i = i+1; 22 | end 23 | else if iscell(s) 24 | out = cell(size(s)); 25 | sizes = {0}; 26 | for i=1:length(s) 27 | n = size(casadi_struct2vec(s{i}),1); 28 | sizes = {sizes{:} sizes{end}+n}; 29 | end 30 | comps = vertsplit(vec,sizes); 31 | for i=1:length(s) 32 | out{i} = casadi_vec2struct(s{i},comps{i}); 33 | end 34 | else 35 | out = reshape(vec,size(s)); 36 | end 37 | end -------------------------------------------------------------------------------- /differential-algebraic-equation/simulation/cart-paperplane-multi-node/skew.m: -------------------------------------------------------------------------------- 1 | function [ R ] = skew( w ) 2 | x = w(1); 3 | y = w(2); 4 | z = w(3); 5 | R = [0,-z,y;z,0,-x;-y,x,0]; 6 | end 7 | 8 | -------------------------------------------------------------------------------- /differential-algebraic-equation/simulation/cart-paperplane-multi-node/video_optimization.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/differential-algebraic-equation/simulation/cart-paperplane-multi-node/video_optimization.mp4 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zeros(length(Xsim),1); 13 | 14 | figure; 15 | 16 | 17 | end -------------------------------------------------------------------------------- /linearization-simulation/symbolic-linearization/getDimension.m: -------------------------------------------------------------------------------- 1 | function [ n, m ] = getDimension( ) 2 | 3 | [~,b] = ode(); 4 | n = b(1); 5 | m = b(2); 6 | 7 | end 8 | 9 | -------------------------------------------------------------------------------- /linearization-simulation/symbolic-linearization/getEquilibrium.m: -------------------------------------------------------------------------------- 1 | function x_eq = getEquilibrium( plantModel ) 2 | 3 | % Find equilibriumm state through fsolve function 4 | x = plantModel.state; 5 | x_eq = fsolve(@(x) getModel(x, plantModel.EquilibriumInput, plantModel.p),... 6 | plantModel.InitialCondition ); 7 | x_eq = x_eq'; 8 | 9 | end 10 | 11 | -------------------------------------------------------------------------------- /linearization-simulation/symbolic-linearization/getLinearise.m: -------------------------------------------------------------------------------- 1 | function [A,B,C,D] = getLinearise( plantModel ) 2 | %getLinearise returns A,B,C and D matrices by lieanrizing using jacobian 3 | %function 4 | % Inputs require: model, data type=struct 5 | 6 | J_A = jacobian(plantModel.non_lin, plantModel.state); 7 | J_B = jacobian(plantModel.non_lin, plantModel.input); 8 | 9 | x_eq = plantModel.EquilibriumState; 10 | u_eq = plantModel.EquilibriumInput; 11 | 12 | A = subs(J_A, plantModel.state, x_eq); 13 | A = double(subs(A, plantModel.input, u_eq)); 14 | 15 | B = subs(J_B,plantModel.state, x_eq); 16 | B = double(subs(B, plantModel.input, u_eq)); 17 | 18 | C = eye(size(A,1)); 19 | D = zeros(size(A,1),size(B,2)); 20 | 21 | 22 | -------------------------------------------------------------------------------- /linearization-simulation/symbolic-linearization/getModel.m: -------------------------------------------------------------------------------- 1 | function model = getModel( x, u, p ) 2 | %getModel Get the plant model from ode function 3 | % Form: getModel( x, u, p ) 4 | % Inputs require: x -> states vector (symbolic form) 5 | % u -> inputs vector (symbolic form) 6 | % p -> parameters vector 7 | 8 | model = ode(0,x,u,p); 9 | 10 | end 11 | 12 | -------------------------------------------------------------------------------- /linearization-simulation/symbolic-linearization/linearise.m: -------------------------------------------------------------------------------- 1 | function [A,B,C,D] = linearise( plantModel ) 2 | %LINEARISE Summary of this function goes here 3 | % Detailed explanation goes here 4 | 5 | J_A = jacobian(plantModel.non_lin, plantModel.state); 6 | J_B = jacobian(plantModel.non_lin, plantModel.input); 7 | 8 | x_eq = plantModel.EquilibriumState; 9 | u_eq = plantModel.EquilibriumInput; 10 | 11 | A = subs(J_A, plantModel.state, x_eq); 12 | A = double(subs(A, plantModel.input, u_eq)); 13 | 14 | B = subs(J_B,plantModel.state, x_eq); 15 | B = double(subs(B, plantModel.input, u_eq)); 16 | 17 | C = eye(size(A,1)); 18 | D = zeros(size(A,1),size(B,2)); 19 | 20 | 21 | -------------------------------------------------------------------------------- /linearization-simulation/symbolic-linearization/parameters.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/linearization-simulation/symbolic-linearization/parameters.mat -------------------------------------------------------------------------------- /miscellaneous-casADi/HSL-library/LibraryHSL_win_X64.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/HSL-library/LibraryHSL_win_X64.zip 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4 | %% Generated C code can be as simple as calling the generate member function for a Function instance. 5 | x = MX.sym('x',1); 6 | f = Function('f',{x},{x^2},{'x'},{'r'}); 7 | opts = struct('main',true,'mex',true); 8 | %opts = struct('mex',true); 9 | f.generate('gen1.c',opts); 10 | mex gen1.c -largeArrayDims 11 | 12 | %% 13 | r = gen1('f',5) 14 | r = full(r) 15 | 16 | %% generate a C file containing multiple CasADi functions by working with CasADi's CodeGenerator class: 17 | f = Function('f',{x,y},{sin(y)*x},{'x','y'},{'q1'}); 18 | g = Function('g',{x,y},{cos(y)*x},{'x','y'},{'q2'}); 19 | opts = struct('mex',true); 20 | C = CodeGenerator('gen2.c',opts); 21 | C.add(f); 22 | C.add(g); 23 | C.generate(); 24 | mex gen2.c -largeArrayDims 25 | 26 | %% execute the function from the command line and MATLAB 27 | f_out = gen2('f',1,2) 28 | g_out = gen2('g',1,2) 29 | -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/gen1.mexw64: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/code-generation/gen1.mexw64 -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/magLev_GS_sim_grt_rtw/build_exception.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/code-generation/magLev_GS_sim_grt_rtw/build_exception.mat -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/slprj/_sfprj/magLev_GS_sim/_self/rtw/grt/info/binfo.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/code-generation/slprj/_sfprj/magLev_GS_sim/_self/rtw/grt/info/binfo.mat -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/slprj/_sfprj/magLev_GS_sim/_self/rtw/grt/src/c1_magLev_GS_sim.tlc: -------------------------------------------------------------------------------- 1 | %implements "chartSource" "C" 2 | %function ChartConfig(block, system) void 3 | %createrecord chartConfiguration { ... 4 | executeAtInitialization 0 ... 5 | } 6 | %return chartConfiguration 7 | %endfunction 8 | %function ChartDataMap(block, system) void 9 | %createrecord ChartDataElements {\ 10 | NumChartData 0 \ 11 | ChartDataDefaults {\ 12 | RecordType "ChartData"\ 13 | Dimensions []\ 14 | IsTestPoint 0\ 15 | }\ 16 | } 17 | %return ChartDataElements 18 | %endfunction 19 | -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/slprj/_sfprj/magLev_GS_sim/_self/rtw/grt/src/c1_magLev_GS_sim.tlh: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/slprj/_sfprj/magLev_GS_sim/_self/rtw/grt/src/c2_magLev_GS_sim.tlc: -------------------------------------------------------------------------------- 1 | %implements "chartSource" "C" 2 | %function ChartConfig(block, system) void 3 | %createrecord chartConfiguration { ... 4 | executeAtInitialization 0 ... 5 | } 6 | %return chartConfiguration 7 | %endfunction 8 | %function ChartDataMap(block, system) void 9 | %createrecord ChartDataElements {\ 10 | NumChartData 0 \ 11 | ChartDataDefaults {\ 12 | RecordType "ChartData"\ 13 | Dimensions []\ 14 | IsTestPoint 0\ 15 | }\ 16 | } 17 | %return ChartDataElements 18 | %endfunction 19 | -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/slprj/_sfprj/magLev_GS_sim/_self/rtw/grt/src/c2_magLev_GS_sim.tlh: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/slprj/_sfprj/magLev_GS_sim/_self/rtw/grt/src/magLev_GS_sim_rtw.tlh: -------------------------------------------------------------------------------- 1 | %implements "machineHeader" "C" 2 | %function CacheOutputs(block,system) void 3 | %openfile typedefsBuf 4 | 5 | %closefile typedefsBuf 6 | % 7 | %openfile definesBuf 8 | %closefile definesBuf 9 | % 10 | %openfile externDataBuf 11 | %closefile externDataBuf 12 | % 13 | %openfile externDataBuf 14 | %closefile externDataBuf 15 | % 16 | %openfile externDataBuf 17 | 18 | 19 | 20 | %closefile externDataBuf 21 | % 22 | %endfunction %% CacheOutputs 23 | 24 | 25 | -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/slprj/grt/_sharedutils/shared_file.dmr: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/code-generation/slprj/grt/_sharedutils/shared_file.dmr -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/slprj/grt/magLev_GS_sim/tmwinternal/minfo.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/code-generation/slprj/grt/magLev_GS_sim/tmwinternal/minfo.mat -------------------------------------------------------------------------------- /miscellaneous-casADi/code-generation/slprj/sl_proj.tmw: -------------------------------------------------------------------------------- 1 | Simulink Coder project marker file. Please don't change it. 2 | slprjVersion: 8.8_031 -------------------------------------------------------------------------------- /miscellaneous-casADi/doc/casadi-users_guide.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/doc/casadi-users_guide.pdf -------------------------------------------------------------------------------- /miscellaneous-casADi/doc/casadi30_calling.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/doc/casadi30_calling.pdf -------------------------------------------------------------------------------- /miscellaneous-casADi/simulink-interface/Interpreted-matlab-fcn/IntMatlabFcn_sim.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/simulink-interface/Interpreted-matlab-fcn/IntMatlabFcn_sim.slx -------------------------------------------------------------------------------- /miscellaneous-casADi/simulink-interface/Interpreted-matlab-fcn/IntMatlabFcn_sim_sfun.mexw64: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/simulink-interface/Interpreted-matlab-fcn/IntMatlabFcn_sim_sfun.mexw64 -------------------------------------------------------------------------------- /miscellaneous-casADi/simulink-interface/Interpreted-matlab-fcn/main_IntMatlabFcn.m: -------------------------------------------------------------------------------- 1 | %% run casadi function in simulink using interpreted MATLAB function 2 | clc;clear all;close all; 3 | import casadi.* 4 | 5 | x = MX.sym('x',1); 6 | y = MX.sym('y',1); 7 | F = Function('F',{x},{x^2},{'x'},{'r'}); % 1-input | 1-output 8 | G = Function('G',{x,y},{y*x^2},{'x','y'},{'r'}); % 2-input | 1-output 9 | 10 | %% from command line 11 | y = full(F(1)) 12 | y1 = full(G(1,1)) 13 | 14 | %% Ode example 15 | x = MX.sym('x',2); 16 | u = MX.sym('u',1); 17 | x1 = x(1); 18 | x2 = x(2); 19 | 20 | ode = [(1-x2^2)*x1-x2 + u; x1]; 21 | Fode = Function('ode',{x,u},{ode},char('x','u'),char('ode')); 22 | Fode.expand(); 23 | x0 = [-1;0.5]; 24 | %Fode(x0,0); 25 | %% 26 | open('IntMatlabFcn_sim.slx') 27 | -------------------------------------------------------------------------------- /miscellaneous-casADi/simulink-interface/matlab-system/mpc_demo.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/miscellaneous-casADi/simulink-interface/matlab-system/mpc_demo.slx -------------------------------------------------------------------------------- /newton-methods/NewtonMethod.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/newton-methods/NewtonMethod.pdf -------------------------------------------------------------------------------- /nmpc-acado/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/.DS_Store -------------------------------------------------------------------------------- /nmpc-acado/inverted-pendulum-set-point/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/inverted-pendulum-set-point/.DS_Store -------------------------------------------------------------------------------- /nmpc-acado/inverted-pendulum-set-point/exercise.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/inverted-pendulum-set-point/exercise.pdf -------------------------------------------------------------------------------- /nmpc-acado/inverted-pendulum-set-point/mpc_RUN.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/inverted-pendulum-set-point/mpc_RUN.m -------------------------------------------------------------------------------- /nmpc-acado/inverted-pendulum-set-point/mpc_data_acadodata_M1.txt: -------------------------------------------------------------------------------- 1 | 1 0 0 0 0 2 | 0 1 0 0 0 3 | 0 0 1 0 0 4 | 0 0 0 1 0 5 | 0 0 0 0 1 6 | -------------------------------------------------------------------------------- /nmpc-acado/inverted-pendulum-set-point/mpc_data_acadodata_M2.txt: -------------------------------------------------------------------------------- 1 | 1 0 0 0 2 | 0 1 0 0 3 | 0 0 1 0 4 | 0 0 0 1 5 | -------------------------------------------------------------------------------- /nmpc-acado/inverted-pendulum-set-point/sim_RUN.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/inverted-pendulum-set-point/sim_RUN.m -------------------------------------------------------------------------------- /nmpc-acado/inverted-pendulum-set-point/visualize.m: -------------------------------------------------------------------------------- 1 | function [] = visualize(time, state_sim, Xref, xmin, xmax) 2 | 3 | l = 0.8; 4 | 5 | figure(10); clf 6 | whitebg([1.0 1.0 1.0]) 7 | set(gcf,'Color',[1 1 1]) 8 | 9 | x_r = Xref(1,1); 10 | y_r = 0; 11 | 12 | line([xmin xmax], [0 0], 'color', 'k', 'Linewidth',1.5); hold on; 13 | line([xmin xmin], [-0.1 0.1], 'color', 'k', 'Linewidth',1.5); hold on; 14 | line([xmax xmax], [-0.1 0.1], 'color', 'k', 'Linewidth',1.5); hold on; 15 | 16 | plot(x_r, y_r, 'gx', 'MarkerSize', 16, 'Linewidth', 2); 17 | text(1.5-0.08,0.8+0.045,['current time: ' num2str(time(end)) 's'],'FontSize',15); 18 | plot(state_sim(end,1),0,'ks','MarkerSize',30,'Linewidth',3); 19 | 20 | theta = state_sim(end,2); 21 | xB = state_sim(end,1)-l*sin(theta); 22 | yB = l*cos(theta); 23 | 24 | line([state_sim(end,1) xB], [0 yB], 'Linewidth',2); 25 | plot(xB,yB,'ro','MarkerSize',25,'Linewidth',3); 26 | 27 | grid on; 28 | xlim([xmin-0.5 xmax+0.5]); 29 | ylim([xmin-0.5 xmax+0.5]); -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/magnetic-levitator/.DS_Store -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/modello_levitatore.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/magnetic-levitator/modello_levitatore.pdf -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/set-point/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/magnetic-levitator/set-point/.DS_Store -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/set-point/mpc_data_acadodata_M1.txt: -------------------------------------------------------------------------------- 1 | 1 0 0 0 2 | 0 1 0 0 3 | 0 0 1 0 4 | 0 0 0 1 5 | -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/set-point/mpc_data_acadodata_M2.txt: -------------------------------------------------------------------------------- 1 | 1 0 0 2 | 0 1 0 3 | 0 0 1 4 | -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/tracking/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/magnetic-levitator/tracking/.DS_Store -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/tracking/mpc_data_acadodata_M1.txt: -------------------------------------------------------------------------------- 1 | 1 0 2 | 0 1 3 | -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/tracking/mpc_data_acadodata_M2.txt: -------------------------------------------------------------------------------- 1 | 1 2 | -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/tracking/sine_fun.m: -------------------------------------------------------------------------------- 1 | function [ out ] = sine_fun( in ) 2 | 3 | out = 1.0 + 0.2*sin(in); 4 | 5 | end 6 | 7 | -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/zero-regulation/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/magnetic-levitator/zero-regulation/.DS_Store -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/zero-regulation/mpc_data_acadodata_M1.txt: -------------------------------------------------------------------------------- 1 | 1 0 0 0 2 | 0 1 0 0 3 | 0 0 1 0 4 | 0 0 0 1 5 | -------------------------------------------------------------------------------- /nmpc-acado/magnetic-levitator/zero-regulation/mpc_data_acadodata_M2.txt: -------------------------------------------------------------------------------- 1 | 1 0 0 2 | 0 1 0 3 | 0 0 1 4 | -------------------------------------------------------------------------------- /nmpc-acado/vertical-take-off-landing-aircraft/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ltgio/control-theory/39b473cc584c4e4d88783902b1a427f17ebbc082/nmpc-acado/vertical-take-off-landing-aircraft/.DS_Store -------------------------------------------------------------------------------- /nmpc-acado/vertical-take-off-landing-aircraft/mpc_data_acadodata_M1.txt: -------------------------------------------------------------------------------- 1 | 1 0 0 0 0 0 0 0 2 | 0 1 0 0 0 0 0 0 3 | 0 0 1 0 0 0 0 0 4 | 0 0 0 1 0 0 0 0 5 | 0 0 0 0 1 0 0 0 6 | 0 0 0 0 0 1 0 0 7 | 0 0 0 0 0 0 1 0 8 | 0 0 0 0 0 0 0 1 9 | -------------------------------------------------------------------------------- /nmpc-acado/vertical-take-off-landing-aircraft/mpc_data_acadodata_M2.txt: -------------------------------------------------------------------------------- 1 | 1 0 0 0 0 0 2 | 0 1 0 0 0 0 3 | 0 0 1 0 0 0 4 | 0 0 0 1 0 0 5 | 0 0 0 0 1 0 6 | 0 0 0 0 0 1 7 | -------------------------------------------------------------------------------- /optimal-control/direct-collocation/direct-collocation-shooting/test_collocation.m: -------------------------------------------------------------------------------- 1 | % Title: check collocation integrator 2 | % Version: Matlab 2014a/casadi3.0.0-rc3 3 | % Author: Marie Curie PhD student Giovanni Licitra 4 | % Data: 07-03-2016 5 | 6 | import casadi.* 7 | % Declare model variables 8 | x1 = MX.sym('x1'); 9 | x2 = MX.sym('x2'); 10 | x = [x1; x2]; 11 | u = MX.sym('u'); 12 | % Model equations 13 | xdot = [(1-x2^2)*x1 - x2 + u; x1]; 14 | % Objective term 15 | L = x1^2 + x2^2 + u^2; 16 | % Time discretization 17 | T = 10; % Time horizon 18 | N = 20; % number of control intervals 19 | M = 4; % IRK steps per interval 20 | % Create discrete time dynamics 21 | dae = struct('x', x, 'p', u, 'ode', xdot, 'quad', L); 22 | F = collocation(dae, T/N, M); 23 | % Evaluate at a test point 24 | [X_test, Q_test] = F([0.2, 0.3], 0.4); 25 | display(X_test); % DM([0.335539, 0.434784]) 26 | display(Q_test); % DM(0.183287) 27 | -------------------------------------------------------------------------------- /optimal-control/direct-single-multiple-shooting-fmincon/constr_multiple.m: -------------------------------------------------------------------------------- 1 | function [ cineq, ceq, Dcineq, Dceq ] = constr_multiple( Z ) 2 | 3 | global N R Q input x0 xref; 4 | 5 | Nx = size(Q,1); 6 | Nu = size(R,1); 7 | Nz = Nx+Nu; 8 | 9 | cineq = []; Dcineq = []; 10 | ceq = [Z(1:Nx)-x0]; 11 | Dceq = zeros(N*Nz+Nx,N*Nx+2*Nx); 12 | Dceq(1:Nx,1:Nx) = eye(Nx); 13 | for k = 1:N 14 | x_k = Z((k-1)*Nz+1:(k-1)*Nz+Nx); 15 | u_k = Z((k-1)*Nz+Nx+1:k*Nz); 16 | x_next = Z(k*Nz+1:k*Nz+Nx); 17 | 18 | input.x = x_k; 19 | input.u = u_k; 20 | input.sens = 1; 21 | output = RK4_integrator( @ode, input ); 22 | ceq = [ceq; output.value-x_next]; 23 | Dceq((k-1)*Nz+1:k*Nz+Nx,Nx+(k-1)*Nx+1:Nx+k*Nx) = [output.sensX output.sensU -eye(Nx)].'; 24 | end 25 | 26 | ceq = [ceq; Z(N*Nz+1:end)-xref]; 27 | Dceq(N*Nz+1:end,Nx+N*Nx+1:end) = eye(Nx); 28 | 29 | end -------------------------------------------------------------------------------- /optimal-control/direct-single-multiple-shooting-fmincon/constr_single.m: -------------------------------------------------------------------------------- 1 | function [ cineq, ceq, Dcineq, Dceq ] = constr_single( Z ) 2 | global input N x0 xref; 3 | 4 | cineq = []; % inequality array 5 | ceq = []; % equality array 6 | Dcineq = []; % gradient of inequality 7 | Dceq = []; % gradient of equality 8 | 9 | x_k = x0; % initial condition 10 | for k = 1:N 11 | u_k = Z(:,k); 12 | input.x = x_k; 13 | input.u = u_k; 14 | output = RK4_integrator(@ode, input); 15 | x_k = output.value; 16 | if k > 1 17 | Dceq = [Dceq*output.sensX.'; output.sensU.']; 18 | else 19 | Dceq = [Dceq; output.sensU.']; 20 | end 21 | end 22 | ceq = [x_k - xref]; 23 | 24 | end -------------------------------------------------------------------------------- /optimal-control/direct-single-multiple-shooting-fmincon/cost_multiple.m: -------------------------------------------------------------------------------- 1 | function [ cost, Dcost ] = cost_multiple( Z ) 2 | 3 | global N R Q; 4 | 5 | Nx = size(Q,1); 6 | Nu = size(R,1); 7 | Nz = Nx+Nu; 8 | cost = 0; 9 | Dcost = []; 10 | for k = 1:N 11 | x_k = Z((k-1)*Nz+1:(k-1)*Nz+Nx); % take the state each time 12 | u_k = Z((k-1)*Nz+Nx+1:k*Nz); % take the control each time 13 | cost = cost + x_k.'*Q*x_k + u_k.'*R*u_k; % define cost 14 | Dcost = [Dcost; Q*x_k; R*u_k]; % derivative of the cost 15 | end 16 | x_k = Z(N*Nz+1:end); % xN 17 | cost = cost + x_k.'*Q*x_k; % add xN to the cost 18 | Dcost = [Dcost; Q*x_k]; 19 | cost = 1/2*cost; 20 | 21 | end -------------------------------------------------------------------------------- /optimal-control/direct-single-multiple-shooting-fmincon/cost_single.m: -------------------------------------------------------------------------------- 1 | function [ cost, Dcost ] = cost_single( Z ) 2 | global N R; 3 | 4 | cost = 0; 5 | Dcost = []; 6 | for k = 1:N 7 | u_k = Z(:,k); 8 | cost = cost + u_k.'*R*u_k; 9 | Dcost = [Dcost; R*u_k]; 10 | end 11 | cost = 1/2*cost; 12 | 13 | end -------------------------------------------------------------------------------- /optimal-control/direct-single-multiple-shooting-fmincon/hessian_multiple.m: -------------------------------------------------------------------------------- 1 | function H = hessian_multiple(x, lambda) 2 | % NOTE: this is a simple Gauss-Newton Hessian approximation to improve 3 | % the convergence behaviour of fmincon 4 | 5 | global N Q R; 6 | H = []; 7 | for k = 1:N 8 | H = blkdiag(H,Q,R); 9 | end 10 | H = blkdiag(H,Q); 11 | end -------------------------------------------------------------------------------- /optimal-control/direct-single-multiple-shooting-fmincon/hessian_single.m: -------------------------------------------------------------------------------- 1 | function H = hessian_single(Z, lambda) 2 | global N R; 3 | H = []; 4 | for k = 1:N 5 | H = blkdiag(H,R); 6 | end 7 | end -------------------------------------------------------------------------------- /optimal-control/direct-single-multiple-shooting-fmincon/ode.m: -------------------------------------------------------------------------------- 1 | function dx = ode(t,x,u) 2 | 3 | p = x(1); 4 | theta = x(2); 5 | v = x(3); 6 | omega = x(4); 7 | F = u(1); 8 | 9 | M = 1; 10 | m = 0.1; 11 | g = 9.81; 12 | l = 0.8; 13 | 14 | dx = [ v; ... 15 | omega; ... 16 | -l*m*sin(theta)*omega^2 + F + g*m*cos(theta)*sin(theta)/(M + m - m*cos(theta)^2); ... 17 | -l*m*cos(theta)*sin(theta)*omega^2 + F*cos(theta) + g*m*sin(theta) + M*g*sin(theta)/(l*(M + m - m*cos(theta)^2)) ]; 18 | 19 | end -------------------------------------------------------------------------------- /optimal-control/direct-single-multiple-shooting-fmincon/rk4_step.m: -------------------------------------------------------------------------------- 1 | function x_next = rk4_step(ode_fun,x,u,h) 2 | k1 = ode_fun(0,x,u); 3 | k2 = ode_fun(0,x+h/2.*k1,u); 4 | k3 = ode_fun(0,x+h/2.*k2,u); 5 | k4 = ode_fun(0,x+h.*k3,u); 6 | x_next = x + h/6.*(k1+2*k2+2*k3+k4); 7 | end -------------------------------------------------------------------------------- /system-identification/matlab/simple_LLS.m: -------------------------------------------------------------------------------- 1 | %% Simple Linear Least Square 2 | clear all;close all;clc; 3 | N = 30; 4 | x = linspace(0,10,N)'; 5 | 6 | % true parameters 7 | m = 1; 8 | b_est = 0.5; 9 | % generate data 10 | y = m.*x+b_est + randn(N,1); 11 | 12 | %% apply LLS 13 | Phi = [x,ones(N,1)]; 14 | 15 | theta_est = inv(transpose(Phi)*Phi)*transpose(Phi)*y 16 | 17 | m_est = theta_est(1); 18 | b_est = theta_est(2); 19 | 20 | y_fit = m_est.*x + b_est 21 | 22 | plot(x,y,'ro'); 23 | hold on;grid on; 24 | plot(x,y_fit); 25 | legend('y measurement','fit model') 26 | --------------------------------------------------------------------------------