├── .DS_Store ├── PDF_README.pdf ├── README.md ├── computeFeasibleSolution.m ├── data ├── LMPC_Example_1_N_3.mat ├── LMPC_Example_1_N_3_iterativeEnl.mat ├── LMPC_Example_1_N_4.mat ├── LMPC_Example_1_N_4_iterativeEnl.mat ├── LMPC_Example_2_N_3.mat ├── LMPC_Example_2_N_4.mat └── feasibleSolution.mat ├── data_plot ├── Cinf_data.dat ├── K3LMPC_S1_data.dat ├── K3LMPC_S2_data.dat ├── K3MPC_data.dat └── Oinf_data.dat ├── main.m ├── mainRegionOfAttractionComparison.m ├── plotResults.eps ├── plotResults.m ├── plotSets.m ├── utils ├── ComputeCost.m ├── DefineSystem.m ├── DefineSystemNew.m ├── FTOCP.m ├── FTOCP_computeInitialCondition.m ├── FTOCP_goalSet.m ├── LMPC.m ├── LMPC_itEnl.m ├── LMPC_itEnlComp.m ├── LMPC_itEnlCompDir.m ├── LMPC_itEnlCompVer.m ├── computeInvariantGoalSet.m ├── computePre.m ├── computeX0_N3.m ├── maxInvariant.m ├── optimalityTestFunction.m ├── plotCS.m ├── plotComparisonClosedLoop.m ├── solve_CFTOCP.m └── solve_CFTOCP_goalSet.m └── workspaceComparison.mat /.DS_Store: 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