generateab.m

国外专家做的求解LMI鲁棒控制的工具箱,可以相对高效的解决LMI问题

function [A,b,lmi_variables] = generateAB(varargin)
%GENERATEAB Internal function to generates linear equation system

% Author Johan L鰂berg 
% $Id: generateAB.m,v 1.3 2004/11/24 09:13:04 johanl Exp $    

  if mod(nargin,2)~=0
    error('Internal error in generateAB. Please report.');
  end
  
  lmi_variables = [];
  n_eq = 0;
  for r = 1:nargin/2  
    [n,m] = size(varargin{1+2*(r-1)});
    n_eq = n_eq + n*m;
    lmi_variables = [lmi_variables varargin{1+2*(r-1)}.lmi_variables(:)'];
  end
  lmi_variables = uniquestripped(lmi_variables);
  
  A = spalloc(n_eq,length(lmi_variables),n_eq);
  b = spalloc(n_eq,1,n_eq);
  
  btop = 1;
  atop = 1;
  for r = 1:nargin/2
    X  = varargin{2*r-1};
    [n,m] = size(X);
    used_variables = find(ismembc(lmi_variables,X.lmi_variables));
    A(atop:atop+n*m-1,used_variables) = X.basis(:,2:end);
    b(btop:btop+n*m-1) =varargin{2*r}(:)-X.basis(:,1);
    atop = atop+n*m;
    btop = btop+n*m;
  end