Initialization of the Controls. Initialize Controls on different time points.
The matrix M can contain multiple rows for different initializations of
the Controls. Note that these are only initializations, the optimization
routine is not forced to use these values exactly.
If values should be fixed, use "ocp.subjectTo".
Usage:
>> algo.initializeControls(M)
Controls:
M m x (n_z + 1) Matrix with initial values
where m = number of different initializations on different times
n_z = number of Controls
the first column represents the time points
the second column represents the first Control
the thirth column represents the second Control
...
A warning will be shown when the number of columns is not equal to the
number of Controls + 1 (the time);
Example:
Example 1: Initialize initial (on t=0) values of 2 Controls.
Initial values are: u1(0) = 5 and u2(0) = 2.5. In this case the matrix
M will have one row, the first element is '0' (the time), the second
and thirth element are 5 and 2.5 (note that the sequence should be the
same as how the Controls are defined)
>> Control u1 u2;
>> M = [0 5 2.5];
>> algo.initializeControls(M);
Example 2: Initialize on t=0 and t=1 (for example we know what these
values will be due to other calculations). Initial values are:
u1(0) = 5, u2(0) = 2.5 and u1(1) = 5.5, u2(1) = -1
>> Control u1 u2;
>> M = [0 5 2.5
1 5.5 -1];
>> algo.initializeControls(M);
Example 3: Although we have two Controls, we only want to
initialize the first: u1(0) = 5. In this case the matrix should only
contain one extra column next to the time reference. Note that a
warning will be displayed to indicate a possible problem. Ignore this
warning.
>> Control u1 u2;
>> M = [0 5];
>> algo.initializeControls(M);
Example 4: We only want to initialize the second Control: u2(0) = 2.5.
In this case you should reverse the order how the Controls are defined!
>> Control u2 u1;
>> M = [0 2.5];
>> algo.initializeControls(M);
Licence:
This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/)
ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
Developed within the Optimization in Engineering Center (OPTEC) under
supervision of Moritz Diehl. All rights reserved.
ACADO Toolkit is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.
ACADO Toolkit is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with ACADO Toolkit; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Author: David Ariens
Date: 20100001 function initializeControls(obj, varargin) 0002 %Initialization of the Controls. Initialize Controls on different time points. 0003 % The matrix M can contain multiple rows for different initializations of 0004 % the Controls. Note that these are only initializations, the optimization 0005 % routine is not forced to use these values exactly. 0006 % If values should be fixed, use "ocp.subjectTo". 0007 % 0008 % Usage: 0009 % >> algo.initializeControls(M) 0010 % 0011 % Controls: 0012 % M m x (n_z + 1) Matrix with initial values 0013 % where m = number of different initializations on different times 0014 % n_z = number of Controls 0015 % the first column represents the time points 0016 % the second column represents the first Control 0017 % the thirth column represents the second Control 0018 % ... 0019 % 0020 % A warning will be shown when the number of columns is not equal to the 0021 % number of Controls + 1 (the time); 0022 % 0023 % Example: 0024 % Example 1: Initialize initial (on t=0) values of 2 Controls. 0025 % Initial values are: u1(0) = 5 and u2(0) = 2.5. In this case the matrix 0026 % M will have one row, the first element is '0' (the time), the second 0027 % and thirth element are 5 and 2.5 (note that the sequence should be the 0028 % same as how the Controls are defined) 0029 % >> Control u1 u2; 0030 % >> M = [0 5 2.5]; 0031 % >> algo.initializeControls(M); 0032 % 0033 % Example 2: Initialize on t=0 and t=1 (for example we know what these 0034 % values will be due to other calculations). Initial values are: 0035 % u1(0) = 5, u2(0) = 2.5 and u1(1) = 5.5, u2(1) = -1 0036 % >> Control u1 u2; 0037 % >> M = [0 5 2.5 0038 % 1 5.5 -1]; 0039 % >> algo.initializeControls(M); 0040 % 0041 % Example 3: Although we have two Controls, we only want to 0042 % initialize the first: u1(0) = 5. In this case the matrix should only 0043 % contain one extra column next to the time reference. Note that a 0044 % warning will be displayed to indicate a possible problem. Ignore this 0045 % warning. 0046 % >> Control u1 u2; 0047 % >> M = [0 5]; 0048 % >> algo.initializeControls(M); 0049 % 0050 % Example 4: We only want to initialize the second Control: u2(0) = 2.5. 0051 % In this case you should reverse the order how the Controls are defined! 0052 % >> Control u2 u1; 0053 % >> M = [0 2.5]; 0054 % >> algo.initializeControls(M); 0055 % 0056 % 0057 % 0058 % Licence: 0059 % This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/) 0060 % 0061 % ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 0062 % Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven. 0063 % Developed within the Optimization in Engineering Center (OPTEC) under 0064 % supervision of Moritz Diehl. All rights reserved. 0065 % 0066 % ACADO Toolkit is free software; you can redistribute it and/or 0067 % modify it under the terms of the GNU Lesser General Public 0068 % License as published by the Free Software Foundation; either 0069 % version 3 of the License, or (at your option) any later version. 0070 % 0071 % ACADO Toolkit is distributed in the hope that it will be useful, 0072 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0073 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 0074 % Lesser General Public License for more details. 0075 % 0076 % You should have received a copy of the GNU Lesser General Public 0077 % License along with ACADO Toolkit; if not, write to the Free Software 0078 % Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 0079 % 0080 % Author: David Ariens 0081 % Date: 2010 0082 % 0083 0084 0085 global ACADO_; 0086 0087 if (length(varargin) == 1) 0088 0089 [m n] = size(varargin{1}); 0090 if (length(ACADO_.helper.u) == n) 0091 warning('ACADO:initialize', 'Possible problem in initializeControls. You have %d controls and the number of columns in the initialisation matrix is also %d. This is probably not correct since the first column should contain a time reference. This matrix should thus have %d columns. See also <a href="matlab: help acado.OptimizationAlgorithm.initializeControls">help acado.OptimizationAlgorithm.initializeControls</a>', length(ACADO_.helper.u), n, length(ACADO_.helper.u)+1); 0092 elseif (length(ACADO_.helper.u) ~= (n-1)) 0093 warning('ACADO:initialize', 'Possible problem in initializeControls. You have %d controls and the number of columns in the initialisation matrix is %d. First column should be a time reference, the next columns should be initialisations for all controls. This matrix should thus have %d columns. See also <a href="matlab: help acado.OptimizationAlgorithm.initializeControls">help acado.OptimizationAlgorithm.initializeControls</a>', length(ACADO_.helper.u), n, length(ACADO_.helper.u)+1); 0094 end 0095 0096 obj.initcontrols = acado.Matrix(varargin{1}); 0097 0098 else %error 0099 0100 error('ERROR: Invalid initializeControls call. <a href="matlab: help acado.OptimizationAlgorithm.initializeControls">help acado.OptimizationAlgorithm.initializeControls</a>'); 0101 0102 end 0103 0104 0105 end