This code implements a simple LMPC for solving an infinite time optimal control problem.
It requires YALMIP and MPT. Follow [these](https://www.mpt3.org/Main/Installation) to install the toolboxes.
Please refer to the [PDF README](https://github.com/urosolia/LMPC_SimpleExample/blob/master/PDF_README.pdf)
毕业设计&课设-双积分器系统的MATLAB LMPC实现.zip （42个子文件） 
matlab_code 
.DS_Store 8KB plotSets.m 2KB data LMPC_Example_1_N_3_iterativeEnl.mat 61KB LMPC_Example_1_N_4.mat 42KB feasibleSolution.mat 1KB LMPC_Example_2_N_4.mat 41KB LMPC_Example_2_N_3.mat 41KB LMPC_Example_1_N_3.mat 42KB LMPC_Example_1_N_4_iterativeEnl.mat 32KB workspaceComparison.mat 593KB
PDF_README.pdf 181KB utils computePre.m 226B LMPC_itEnlComp.m 4KB optimalityTestFunction.m 4KB ComputeCost.m 2KB DefineSystem.m 604B computeInvariantGoalSet.m 769B FTOCP_computeInitialCondition.m 2KB FTOCP.m 2KB FTOCP_goalSet.m 2KB DefineSystemNew.m 442B LMPC_itEnlCompVer.m 4KB maxInvariant.m 375B LMPC_itEnlCompDir.m 4KB LMPC_itEnl.m 3KB plotComparisonClosedLoop.m 1KB plotCS.m 1KB solve_CFTOCP.m 2KB LMPC.m 3KB solve_CFTOCP_goalSet.m 2KB computeX0_N3.m 426B main.m 4KB plotResults.m 2KB plotResults.eps 60KB computeFeasibleSolution.m 1KB mainRegionOfAttractionComparison.m 4KB README.md 308B data_plot K3MPC_data.dat 265B K3LMPC_S2_data.dat 201B Cinf_data.dat 361B K3LMPC_S1_data.dat 443B Oinf_data.dat 179B资源评论
