assignment problem in a for loop

1 vue (au cours des 30 derniers jours)
Ali Esmaeilpour
Ali Esmaeilpour le 15 Juin 2019
Commenté : Ali Esmaeilpour le 16 Juin 2019
Hello people, I have an assignment problem and I don't know how to solve.
clc;
clear;
close all;
%% Time structure
dt=0.01; %sampling time
%% System structure
A = [1.02 -0.1
0.1 0.98];
B = [0.5 0
0.05 0.5];
G = [0.3 0
0 0.3];
C = eye(2,2);
Qf = [50 0
0 50];
%% MPC parameters
Q = eye(2);
R = eye(2)*50;
N = 5;
%% Building block matrices
I = eye(2,2);
q = 2;
m = 2;
Qbar = blkdiag(Q,Q,Q,Q,Qf,R,R,R,R);
Fq = blkdiag(sqrt(Q),sqrt(Q),sqrt(Q),sqrt(Q),sqrt(Q),sqrt(Qf),sqrt(R),sqrt(R),sqrt(R),sqrt(R),sqrt(R));
Gxx = zeros(2*N , size(A,1));
for i = 1:N
Gxx(q*i-q+1:q*i , :) = A^i;
end
Gxu = zeros(2*N , 2*N);
for i = 1:N
for j = 1:i
Gxu(q*i-q+1:q*i , m*j-m+1:m*j) = A^(i-j)*(B);
end
end
Gxw = zeros(2*N , 2*N);
for i = 1:N
for j = 1:i
Gxw(q*i-q+1:q*i , m*j-m+1:m*j) = A^(i-j)*(I);
end
end
%% Mean of u obtained from solver result
ubar1 = [-0.000581629157055178,-0.000581629156609152,-0.000581629281438909,-0.000581629281440897,-0.000581629281439613,-0.000581629281441646,-0.000581629281439253,-0.000581629281441243,-0.000581629283745490,-0.000581629284144206,131.400927231750,0,-43.5899689825575,-87.3447946140090,-0.121677240258015,-0.227961850128840,-0.0869533824650604,-0.130839304907035,-0.00960202231921041,-0.00960984528042930,0.0454701361380619,0.0690829738668646;-0.000528160807600932,-0.000528160806858417,-0.000528161014656819,-0.000528161014660146,-0.000528161014657446,-0.000528161014660808,-0.000528161014657155,-0.000528161014660429,-0.000528161018496181,-0.000528161019159948,218.736767442156,0,-72.5618189454592,-145.398065579508,-0.202155519406871,-0.379025814694336,-0.144353434705365,-0.217349689091955,-0.0155478255728175,-0.0155653199308984,0.0761167937761455,0.115615840165787;-0.000464850276767520,-0.000464850276767507,-0.000464850276766848,-0.000464850276766868,-0.000464850276767458,-0.000464850276767449,-0.000464850276767172,-0.000464850276767166,-0.000464850276767130,-0.000464850276767136,-0.00464850251156834,0,0,0,0,0,0,0,0,0,0,0;-0.000422890131101226,-0.000422890131101213,-0.000422890131100429,-0.000422890131100414,-0.000422890131100958,-0.000422890131100997,-0.000422890131100708,-0.000422890131100690,-0.000422890131100695,-0.000422890131100693,-0.00422890107641037,0,0,0,0,0,0,0,0,0,0,0;-0.000348309691892651,-0.000348309691892663,-0.000348309691892179,-0.000348309691892155,-0.000348309691892598,-0.000348309691892604,-0.000348309691892381,-0.000348309691892382,-0.000348309691892379,-0.000348309691892380,-0.00348309672703811,0,0,0,0,0,0,0,0,0,0,0;-0.000317448440512582,-0.000317448440512563,-0.000317448440511949,-0.000317448440511982,-0.000317448440512401,-0.000317448440512368,-0.000317448440512166,-0.000317448440512180,-0.000317448440512168,-0.000317448440512169,0,-0.00317448422922303,0,0,0,0,0,0,0,0,0,0;-0.000231995660577032,-0.000231995660577031,-0.000231995660576716,-0.000231995660576710,-0.000231995660577010,-0.000231995660577012,-0.000231995660576852,-0.000231995660576864,-0.000231995660576856,-0.000231995660576843,-0.00231995647779437,0,0,0,0,0,0,0,0,0,0,0;-0.000211826109957114,-0.000211826109957123,-0.000211826109956741,-0.000211826109956731,-0.000211826109957007,-0.000211826109957004,-0.000211826109956862,-0.000211826109956874,-0.000211826109956863,-0.000211826109956857,-0.00211826098199697,0,0,0,0,0,0,0,0,0,0,0;-0.000115896358074462,-0.000115896358074466,-0.000115896358074303,-0.000115896358074301,-0.000115896358074452,-0.000115896358074453,-0.000115896358074381,-0.000115896358074372,-0.000115896358074371,-0.000115896358074375,-0.00115896351700854,0,0,0,0,0,0,0,0,0,0,0;-0.000106013267225743,-0.000106013267225713,-0.000106013267225495,-0.000106013267225514,-0.000106013267225653,-0.000106013267225657,-0.000106013267225582,-0.000106013267225581,-0.000106013267225585,-0.000106013267225582,-0.00106013261349873,0,0,0,0,0,0,0,0,0,0,0];
ubar2 = [-0.000581629151442759,-0.000581629150976575,-0.000581629281437736,-0.000581629281439817,-0.000581629281438418,-0.000581629281440531,-0.000581629281438100,-0.000581629281440181,-0.000581629283848340,-0.000581629284265049,65.9612196789050,0,0.0163528663340642,-0.0115687495095834,-21.9613299789049,-43.9177482522026,-0.0351465169397885,-0.0573268811696319,-0.00848969500416555,-0.0139375019482108,0.00936976354254012,0.0126783667337945;-0.000528160798780068,-0.000528160798005902,-0.000528161014654947,-0.000528161014658418,-0.000528161014655624,-0.000528161014659124,-0.000528161014655291,-0.000528161014658731,-0.000528161018657842,-0.000528161019349869,109.538144585391,0,0.0273450560748362,-0.0190569345422484,-36.4695717310723,-72.9307300429299,-0.0578364398062356,-0.0947345049761504,-0.0136866268276673,-0.0227458754979369,0.0159240204457714,0.0215664414794175;-0.000464850148258548,-0.000464850147797768,-0.000464850276739902,-0.000464850276742009,-0.000464850276740514,-0.000464850276742547,-0.000464850276740215,-0.000464850276742327,-0.000464850279122408,-0.000464850279534250,0,65.1932395076792,0.0163002305454987,-0.0113383082218456,-21.7054853369752,-43.4060306759143,-0.0346084968557704,-0.0565336465142243,-0.00832334193286985,-0.0137285737033249,0.00927132212395355,0.0125888175165625;-0.000422889917178537,-0.000422889916411515,-0.000422890131055573,-0.000422890131059036,-0.000422890131056160,-0.000422890131059569,-0.000422890131055833,-0.000422890131059312,-0.000422890135021385,-0.000422890135706981,0,108.524418821749,0.0273655844303290,-0.0185747423894637,-36.1317741553739,-72.2557401916522,-0.0572547780465873,-0.0938525774969211,-0.0134878862596612,-0.0224802718950870,0.0158385014160028,0.0213127948735551;-0.000348309691892901,-0.000348309691892894,-0.000348309691892164,-0.000348309691892170,-0.000348309691892627,-0.000348309691892591,-0.000348309691892341,-0.000348309691892409,-0.000348309691892398,-0.000348309691892359,-0.00348309672711165,0,0,0,0,0,0,0,0,0,0,0;-0.000317448440512921,-0.000317448440512929,-0.000317448440511979,-0.000317448440511974,-0.000317448440512384,-0.000317448440512391,-0.000317448440512184,-0.000317448440512162,-0.000317448440512158,-0.000317448440512165,0,0,0,-0.00317448422917531,0,0,0,0,0,0,0,0;-0.000231995660577191,-0.000231995660577196,-0.000231995660576725,-0.000231995660576713,-0.000231995660577007,-0.000231995660577007,-0.000231995660576840,-0.000231995660576861,-0.000231995660576864,-0.000231995660576847,-0.00231995647789305,0,0,0,0,0,0,0,0,0,0,0;-0.000211826109957367,-0.000211826109957373,-0.000211826109956736,-0.000211826109956738,-0.000211826109957001,-0.000211826109956983,-0.000211826109956865,-0.000211826109956888,-0.000211826109956864,-0.000211826109956847,-0.00211826098199371,0,0,0,0,0,0,0,0,0,0,0;-0.000115896358074550,-0.000115896358074549,-0.000115896358074301,-0.000115896358074296,-0.000115896358074455,-0.000115896358074451,-0.000115896358074373,-0.000115896358074376,-0.000115896358074373,-0.000115896358074374,-0.00115896351693273,0,0,0,0,0,0,0,0,0,0,0;-0.000106013267225860,-0.000106013267225836,-0.000106013267225499,-0.000106013267225518,-0.000106013267225656,-0.000106013267225653,-0.000106013267225577,-0.000106013267225580,-0.000106013267225585,-0.000106013267225581,0,0,0,0,0,0,0,0,0,0,-0.00106013261343957,0];
ubar3 = [-0.000581629145856014,-0.000581629145369818,-0.000581629281436549,-0.000581629281438723,-0.000581629281437267,-0.000581629281439437,-0.000581629281436938,-0.000581629281439131,-0.000581629283950715,-0.000581629284385333,0;-0.000528160790044915,-0.000528160789239457,-0.000528161014653141,-0.000528161014656719,-0.000528161014653785,-0.000528161014657422,-0.000528161014653464,-0.000528161014657056,-0.000528161018817937,-0.000528161019537960,0;-0.000464850142736338,-0.000464850142255738,-0.000464850276738761,-0.000464850276740947,-0.000464850276739355,-0.000464850276741506,-0.000464850276739047,-0.000464850276741207,-0.000464850279223623,-0.000464850279653178,0;-0.000422889908523924,-0.000422889907725896,-0.000422890131053791,-0.000422890131057371,-0.000422890131054291,-0.000422890131057855,-0.000422890131054043,-0.000422890131057684,-0.000422890135180004,-0.000422890135893310,0;-0.000348309559422107,-0.000348309558947132,-0.000348309691864400,-0.000348309691866537,-0.000348309691864830,-0.000348309691866954,-0.000348309691864606,-0.000348309691866753,-0.000348309694320250,-0.000348309694744800,43.0436491684950;-0.000317448219995202,-0.000317448219204558,-0.000317448440465745,-0.000317448440469294,-0.000317448440466157,-0.000317448440469703,-0.000317448440465946,-0.000317448440469510,-0.000317448444553722,-0.000317448445260454,71.6525962622234;-0.000231995660577381,-0.000231995660577364,-0.000231995660576710,-0.000231995660576727,-0.000231995660577002,-0.000231995660576996,-0.000231995660576870,-0.000231995660576862,-0.000231995660576844,-0.000231995660576842,-0.00231995647785187;-0.000211826109957630,-0.000211826109957637,-0.000211826109956729,-0.000211826109956725,-0.000211826109957006,-0.000211826109957009,-0.000211826109956874,-0.000211826109956867,-0.000211826109956849,-0.000211826109956848,-0.00211826098201988;-0.000115896358074637,-0.000115896358074632,-0.000115896358074308,-0.000115896358074307,-0.000115896358074440,-0.000115896358074445,-0.000115896358074386,-0.000115896358074375,-0.000115896358074369,-0.000115896358074373,-0.00115896351684206;-0.000106013267225990,-0.000106013267225966,-0.000106013267225503,-0.000106013267225519,-0.000106013267225655,-0.000106013267225648,-0.000106013267225582,-0.000106013267225588,-0.000106013267225578,-0.000106013267225575,-0.00106013261328094];
ubar = [ubar1 ubar2 ubar3];
%% Kalman gain obtaind from solver result
K1 = [44.0635380945976,0.0144792342297621,0.00899088120540256,-0.0124382672869247,-0.0223441170985152,-14.6762348967978,-29.3464412433947,-0.0100789965127368,-0.0183297272704375,-0.00148141843763935,-0.00558644338784057;72.9973128950942,0.0244479819082575,0.0153090895709597,-0.0201779270976766,-0.0365491331966745,-24.3128391828889,-48.6159239970137,-0.0161442327881510,-0.0300272845581608,-0.00200941463662751,-0.00878084663970879;43.5507054837716,0.0144200653254241,0.00898094935076691,-0.0121928816277802,-0.0219638690448114,-14.5053129127818,-29.0047439028058,-0.00984404045116668,-0.0180157931805780,-0.00131719338963689,-0.00536440740900765;72.3219199166351,0.0241936868346877,0.0151660575668501,-0.0200027039117206,-0.0362572464667515,-24.0877901457276,-48.1657843934554,-0.0158107503157870,-0.0295520299572297,-0.00180944623703407,-0.00850184559544692;0,0.0143473042089087,0.00895446326796452,-0.0119783647393111,-0.0216170886824211,-14.3363020536890,-28.6668482923762,-0.00959862061015196,-0.0176755508650136,-0.00120934496620102,-0.00520471650514216;0,0.0240875170155106,0.0151235909454769,-0.0197116546030324,-0.0358156872907119,-23.8645602682563,-47.7198464280140,-0.0155440294572866,-0.0292536758614791,-0.00181252602425768,-0.00843758446433569;0,0,0,0,0,0,0,0,0,0,0;0,0,0,0,0,0,0,0,0,0,0;0,0,0,0,0,0,0,0,0,0,0;0,0,0,0,0,0,0,0,0,0,0];
K2 = [-0.000581629140520318,-0.000581629140014967,-0.000581629281435421,-0.000581629281437707,-0.000581629281436155,-0.000581629281438415,-0.000581629281435776,-0.000581629281438066,-0.000581629284048542,-0.000581629284500241,33.1028257072545,0,0.0112490119602310,0.0112473556934346,-0.00292777573905732,-0.00436087360384590,-0.00834074815108921,-0.0130520322384191,-11.0275646016738,-22.0540143645686,-0.00657393380603968,-0.0144146452715128;-0.000528160781767472,-0.000528160780932333,-0.000528161014651370,-0.000528161014655111,-0.000528161014652074,-0.000528161014655837,-0.000528161014651727,-0.000528161014655437,-0.000528161018969639,-0.000528161019716197,54.7082630863979,0,0.0189286284954669,0.0189103757597692,-0.00454113156244581,-0.00689384922596755,-0.0135015600147111,-0.0210767833743903,-18.2242737481433,-36.4471019107356,-0.0105525110348784,-0.0235426487928676;-0.000464850137462193,-0.000464850136962711,-0.000464850276737639,-0.000464850276739886,-0.000464850276738278,-0.000464850276740523,-0.000464850276737923,-0.000464850276740185,-0.000464850279320284,-0.000464850279766736,0,32.7179153179613,0.0112345673342110,0.0112163959609964,-0.00278319683941357,-0.00418577411828557,-0.00814214715349870,-0.0128358008736269,-10.8992135703394,-21.7973468908096,-0.00639021248503765,-0.0141171908707592;-0.000422889900322715,-0.000422889899495272,-0.000422890131052072,-0.000422890131055772,-0.000422890131052567,-0.000422890131056314,-0.000422890131052341,-0.000422890131056058,-0.000422890135330305,-0.000422890136069922,0,54.2017664448784,0.0189102797440820,0.0188790780054832,-0.00431688326309377,-0.00666606535534156,-0.0132115671865431,-0.0207785265821466,-18.0555781694114,-36.1098118292599,-0.0103030776224307,-0.0231185845624800;-0.000348309554208820,-0.000348309553715187,-0.000348309691863313,-0.000348309691865506,-0.000348309691863733,-0.000348309691865966,-0.000348309691863537,-0.000348309691865716,-0.000348309694415777,-0.000348309694857077,32.3368807977701,0,0.0112181867735355,0.0112050146547400,-0.00264624138886693,-0.00403942571585900,-0.00793936627616469,-0.0125083755937647,-10.7721706065646,-21.5434283256527,-0.00620675334625093,-0.0138480011120754;-0.000317448211869598,-0.000317448211049784,-0.000317448440464021,-0.000317448440467722,-0.000317448440464449,-0.000317448440468131,-0.000317448440464258,-0.000317448440467932,-0.000317448444702636,-0.000317448445435430,53.7005126816206,0,0.0188306154290914,0.0187983500141845,-0.00418479906990456,-0.00650422788317405,-0.0129787758516639,-0.0206037169145362,-17.8884600942730,-35.7756277679274,-0.0100996300998782,-0.0228571188161968;-0.000231995524496290,-0.000231995524008378,-0.000231995660548183,-0.000231995660550392,-0.000231995660548475,-0.000231995660550666,-0.000231995660548338,-0.000231995660550513,-0.000231995663070879,-0.000231995663507021,31.9604088939063,0,0.0112066324330570,0.0112147539670611,-0.00249739118314646,-0.00392555353680225,-0.00771411199815516,-0.0122641592061716,-10.6466425028912,-21.2924601288557,-0.00600142224565183,-0.0136449665955420;-0.000211825883430054,-0.000211825882617863,-0.000211826109909245,-0.000211826109912894,-0.000211826109909523,-0.000211826109913165,-0.000211826109909373,-0.000211826109913023,-0.000211826114108563,-0.000211826114834567,53.2033600166952,0,0.0188448086146954,0.0187787624459470,-0.00397036507284986,-0.00630757558107225,-0.0127006896994598,-0.0202050826654821,-17.7227112959222,-35.4443641534376,-0.00985352249305821,-0.0229891634134136;-0.000115896358074734,-0.000115896358074724,-0.000115896358074296,-0.000115896358074303,-0.000115896358074448,-0.000115896358074456,-0.000115896358074386,-0.000115896358074361,-0.000115896358074363,-0.000115896358074379,-0.00115896351690545,0,0,0,0,0,0,0,0,0,0,0;-0.000106013267226122,-0.000106013267226104,-0.000106013267225503,-0.000106013267225519,-0.000106013267225655,-0.000106013267225651,-0.000106013267225582,-0.000106013267225583,-0.000106013267225577,-0.000106013267225575,0,-0.00106013261346298,0,0,0,0,0,0,0,0,0,0];
K3 = [-0.000581629135519974,-0.000581629134996698,-0.000581629281434357,-0.000581629281436717,-0.000581629281435096,-0.000581629281437487,-0.000581629281434781,-0.000581629281437079,-0.000581629284140153,-0.000581629284607911,26.5256579509458,0,0.00835038284765902,0.00947832280545638,-0.000533997427724830,-6.68585671312291e-06,-0.00405488169836614,-0.00564807655900998,-0.00595031101092397,-0.0109888523403815,-8.84050296644894,-17.6817277853915;-0.000528160774083449,-0.000528160773220748,-0.000528161014649796,-0.000528161014653655,-0.000528161014650437,-0.000528161014654326,-0.000528161014650111,-0.000528161014653958,-0.000528161019110479,-0.000528161019881656,0,43.7323827136632,0.0140321836641676,0.0159035734195373,-0.000542426950676478,0.000364240646642466,-0.00625922274696526,-0.00888142880463039,-0.00945508644359899,-0.0175429498368847,-14.5745638190296,-29.1508198297976;-0.000464850132519463,-0.000464850132002244,-0.000464850276736625,-0.000464850276738974,-0.000464850276737208,-0.000464850276739529,-0.000464850276736892,-0.000464850276739237,-0.000464850279410886,-0.000464850279873170,0,26.2170978854204,0.00839666410543007,0.00946862846858551,-0.000444547095147061,8.91388874535797e-05,-0.00392615549751531,-0.00547020218953360,-0.00581631085589865,-0.0107350123263100,-8.73755516972260,-17.4757534214187;-0.000422889892709482,-0.000422889891854738,-0.000422890131050451,-0.000422890131054295,-0.000422890131050992,-0.000422890131054839,-0.000422890131050725,-0.000422890131054571,-0.000422890135469843,-0.000422890136233858,43.3276919263775,0,0.0140211697873117,0.0160142083983239,-0.000366651051102402,0.000478818303015614,-0.00607735037249898,-0.00860533574328808,-0.00911470174798128,-0.0173708258234057,-14.4396727514416,-28.8812274072871;-0.000348309549323091,-0.000348309548811909,-0.000348309691862276,-0.000348309691864573,-0.000348309691862713,-0.000348309691865016,-0.000348309691862500,-0.000348309691864786,-0.000348309694505334,-0.000348309694962264,0,25.9122873075480,0.00837341318636336,0.00954768611622805,-0.000271138675591953,0.000155350652316167,-0.00376835543820737,-0.00533741699325959,-0.00563027057910208,-0.0105847090624864,-8.63581190567657,-17.2724430575202;-0.000317448204326399,-0.000317448203479583,-0.000317448440462472,-0.000317448440466267,-0.000317448440462869,-0.000317448440466661,-0.000317448440462651,-0.000317448440466486,-0.000317448444840901,-0.000317448445597841,0,42.9271217709031,0.0140008448155133,0.0158117464386425,-0.000281578836956038,0.000561272672078999,-0.00608381201958536,-0.00834542194250592,-0.00891479934815123,-0.0171139707435029,-14.3061071810531,-28.6138233546433;-0.000231995519666879,-0.000231995519161643,-0.000231995660547176,-0.000231995660549459,-0.000231995660547456,-0.000231995660549719,-0.000231995660547326,-0.000231995660549600,-0.000231995663159393,-0.000231995663610998,0,25.6105655006555,0.00825393995232175,0.00935996007256233,-0.000324169279509413,0.000194898147037028,-0.00372020476659378,-0.00501585548608801,-0.00530996212076040,-0.0101735252828744,-8.53504170390693,-17.0711088341814;-0.000211825875956376,-0.000211825875117378,-0.000211826109907680,-0.000211826109911447,-0.000211826109907945,-0.000211826109911717,-0.000211826109907806,-0.000211826109911582,-0.000211826114245537,-0.000211826114995488,42.5305249978802,0,0.0140376983366531,0.0159144637481751,-0.000164166896230518,0.000626851134912908,-0.00600537149991451,-0.00843348581306537,-0.00900589897935376,-0.0169609079999982,-14.1736314302266,-28.3490210102000;-0.000115896218804857,-0.000115896218305517,-0.000115896358045113,-0.000115896358047351,-0.000115896358045253,-0.000115896358047496,-0.000115896358045170,-0.000115896358047424,-0.000115896360626858,-0.000115896361073200,0,25.3125511016011,0.00836257814113481,0.00941757713773058,-0.000126986021959314,0.000379968576672813,-0.00350929619294082,-0.00494546128359014,-0.00522984039418426,-0.0100579904300554,-8.43566564435439,-16.8723349700185;-0.000106013035390354,-0.000106013034559113,-0.000106013267176911,-0.000106013267180650,-0.000106013267177042,-0.000106013267180788,-0.000106013267176985,-0.000106013267180711,-0.000106013271474569,-0.000106013272217585,0,42.1367074550257,0.0140593145017628,0.0158875194539718,-6.90156975402793e-05,0.000796806145614419,-0.00560810907779284,-0.00825150493231501,-0.00872792090512335,-0.0167696079526953,-14.0424571232569,-28.0866279454555];
%K = [K1 K2 K3];
K = [44.0635380945976,0.0144792342297621,0.00899088120540256,-0.0124382672869247,-0.0223441170985152,-14.6762348967978,-29.3464412433947,-0.0100789965127368,-0.0183297272704375,-0.00148141843763935;72.9973128950942,0.0244479819082575,0.0153090895709597,-0.0201779270976766,-0.0365491331966745,-24.3128391828889,-48.6159239970137,-0.0161442327881510,-0.0300272845581608,-0.00200941463662751;43.5507054837716,0.0144200653254241,0.00898094935076691,-0.0121928816277802,-0.0219638690448114,-14.5053129127818,-29.0047439028058,-0.00984404045116668,-0.0180157931805780,-0.00131719338963689;72.3219199166351,0.0241936868346877,0.0151660575668501,-0.0200027039117206,-0.0362572464667515,-24.0877901457276,-48.1657843934554,-0.0158107503157870,-0.0295520299572297,-0.00180944623703407;0,0.0143473042089087,0.00895446326796452,-0.0119783647393111,-0.0216170886824211,-14.3363020536890,-28.6668482923762,-0.00959862061015196,-0.0176755508650136,-0.00120934496620102;0,0.0240875170155106,0.0151235909454769,-0.0197116546030324,-0.0358156872907119,-23.8645602682563,-47.7198464280140,-0.0155440294572866,-0.0292536758614791,-0.00181252602425768;0,0,0,0,0,0,0,0,0,0;0,0,0,0,0,0,0,0,0,0;0,0,0,0,0,0,0,0,0,0;0,0,0,0,0,0,0,0,0,0];
%% Constructing mean of state
xbar0 = ones(2,55);
xbar = (Gxx*xbar0)+(Gxu*ubar);
%% Main loop
x0 = ones(2,55);
x(:,1) = ones(10,55);
for k = 2:55
x(:,k) = Gxx*x0 + Gxu*(K*(x(:,k-1)-xbar)+ubar);
end
plot(x)
  16 commentaires
Stephen23
Stephen23 le 16 Juin 2019
Modifié(e) : Stephen23 le 16 Juin 2019
"question is clear x is 10*55 and it has a formula:"
Sure, that much is clear.
But what is not clear is what you expect to be stored in the output array, because
a) your code is buggy, so it does not help us understand what you are trying to do, and
b) you have not explained the output array to us, even though this thread of >ten comments discusses this one topic extensively.
So, here is an important question for you: Given that on each of ten iterations you generate a matrix with size 10x55, and you apparently want them all stored, what size do you expect the final output array to be? Please answer this exact question.
Note that ten iterations of a 10x55 matrix means a total of 5500 elements.
Ali Esmaeilpour
Ali Esmaeilpour le 16 Juin 2019
ok, eh... I did an optimization through a solver and I got K and ubar (mean of input) as a controller. then I found xbar (mean of states) through its formula. then I wanna put u and K in a close loop through for command and find x (states) and input (u). I attach x and u formula and also xbar maybe it could help you to know what am I doing exactly. and w is random numbers with normal destribution which means w=randn(10,55)Untitled.png

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