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changelog revision:

wiki20160527.1

We recommend you to use the up-to-date version of MUP toolbox. Therefore, install the current version from download-page, or update the toolbox using tbxmanager: 

tbxmanager update mup

MUP r20161207

fixed bugs:

  • fixed bug in robust MPC design using RMPC_BLOCK, when no soft-constraints are considered.
  • fixed bug in robust MPC design SOFT-CON DEMO using RMPC_BLOCK.

known bugs and limitations:

none

MUP r20160529

fixed bugs:

  • fixed bug in robust MPC design DEMO using CLI.

known bugs and limitations:

  • bug in robust MPC design using RMPC_BLOCK, when no soft-constraints are considered. Fixed in: MUP r20161207.
  • bug in robust MPC design SOFT-CON DEMO using RMPC_BLOCK. Fixed in: MUP r20161207.

MUP r20160321

improvements/changes:

  • introduced novel SOFT-CON module to implement LMI-based soft constraints on control inputs and system outputs. Currently supported soft-constrained RMPC design methods:
    • Kothare et al. (1996) - soft-con,
    • Wan et al. (2003) - soft-con,
    • Cao et al. (2005) - soft-con,
    • NSO and ACIS - soft-con.
  • implemented SOFT-CON-related DEMO projects:
    • mup_rmpc_soft_con_demo,
    • mup_rmpcblock_soft_con_demo.

known bugs and limitations:

  • bug in robust MPC design DEMO using CLI. Fixed in: MUP r20160529.

MUP r20160219

improvements/changes:

  • updated list of supported SDP solvers based on the list of YALMIP-supported SDP solvers.
  • extended features of RMPC block:
    • if feasibility check is enabled then export current value of optimizer GAMMA,
    • export current value of SOLVER-TIME.
  • introduced the benchmark uncertain systems:
  • improved muptest.

fixed bugs:

  • fixed bug in evaluation of control law RMPC methods Cuzzola et al. (2002) and Ding et al. (2007).
  • fixed bug in mup_rmpc_demo associated with the data storing.
  • fixed bug in mup_rmpc_demo associated with evaluation of the saturated control input when control input is unconstrained.
  • fixed bug in rmpc_plot that plots figures of RMPC trajectories.

known bugs and limitations:

none

MUP r20151026

improvements/changes:

  • rebuild to take into account symmetric output constraints "y_max" instead of state constraints "x_max"
    • adopted RMPC methods,
    • adopted MALTAB/Simulink RMPC_BLOCK,
    • adopted demos,
  • implemented simple self-test run by muptest.
  • updated mask of MALTAB/Simulink RMPC_BLOCK to open the MUP's homepage, when push the button HELP. If the page is not available, then the README-file is opened.
  • changed names of robust MPC methods:
    • "Mao et Cao (2015)" renamed to "PDLF and ACIS".
    • "Mao et Huang (2015)" renamed to "PDLF and WACIS".
    • "Wan et Cao (2015)" renamed to "NSO and ACIS".
    • "Wan et Huang (2015)" renamed to "NSO and WACIS".
    • "Wan et Zhang (2015)" renamed to "NSO and SDLF".

fixed bugs:

none

known bugs and limitations:

  • when the control law is designed using RMPC methods Cuzzola et al. (2002) or Ding et al. (2007) then MUP toolbox may crash. Fixed in MUP r20160211.
  • when run mup_rmpc_demo then MUP toolbox may crash when store the data. Fixed in MUP r20160211.
  • when run mup_rmpc_demo considering the unconstrained control input, then MUP toolbox may crash during control input saturation. Fixed in MUP r20160211.
  • when plot RMPC trajectories using rmpc_plot then MUP toolbox may crash. Fixed in MUP r20160211.

MUP r20150617

improvements/changes:

  • extended list of available "Robust MPC Approach":
    • added "Mao et Cao (2015)".
    • added "Mao et Huang (2015)".
    • added "Wan et Cao (2015)".
    • added "Wan et Huang (2015)".
    • added "Wan et Zhang (2015)".
  • updated YALMIP functions OPTIMIZE and VALUE, former SOLVESDP and DOUBLE, respectively.
  • extended features of CLI

fixed bugs:

  • fixed bug in sdp_ding and feas_ding, former release considered time-invariant uncertainties.
  • fixed bug in sdp_li and feas_li one-step-ahead policy of vertex assignment.
  • fixed bug in sdp_huang, there was missing the constraint: GAMMA - GAMMA_S > 0.
  • fixed bug in sdp_zhang, there was incorrect index in SDLF assign.

MUP v20150202

improvements/changes:

  • extended list of available "Robust MPC Approach":
    • added "Ding et al. (2007)".
    • added "Zhang et al. (2013)".
  • extended list of supported solvers:
    • added "MOSEK".
  • extended features of CLI:
    • enabled inline fesibility chcek,
    • removed opt_$rmpc_name for CLI RMPC design. Robust MPC is designed by sdp_$rmpc_name in both, in CLI and in Simulink by rmpc_block.
  • extended mup_rmpc_demo
  • ensured backward compatibility of mup_rmpcblock_init and mup_rmpcblock_demo with MATLAB R2012a and R2011b using mup_rmpcblock_demo_model_r2012a and mup_rmpcblock_demo_model_r2011b.
  • ensured backward compatibility of plotted figures using rmpc_plot_r13b with MATLAB R2013b and sooner.
  • MUP toolbox is available for users of tbxmanager.

fixed bugs:

  • fixed bug in mup_rmpc_demo in addtitional control input saturation

known bugs and limitations:

  • RMPC method Ding et al. (2007) was implemented so that the time-invariant uncertainties were considered. Transformed for time-variant uncertainties in: MUP r20150616.
  • RMPC mehotd Li et al. (2008) has a bug in one-step-ahead policy of vertex assignment. Fixed in: MUP r20150616.
  • RMPC mehotd Huang et al. (2011) has a bug in SDP constraints, there was missing the constraint related to upper bounds of Lyapunov functions. Fixed in: MUP r20150616.
  • RMPC method Zhang et al. (2013) has a bug in SDP constraints, there was incorrect index in SDLF assign. Fixed in: MUP r20150616.

MUP v20141127

fixed bugs:

  • fixed bug in the command-line-designed robust MPC using opt_cuzzola.m.

known bugs and limitations:

  • figures plotted using rmpc_plot.m may not be displayed correctly in MATLAB R2014a and R2014b. Fixed in: MUP v20150202.

MUP v20141120

fixed bugs:

  • inserted missing m-file get_variat.m.

known bugs and limitations:

  • when design the robust MPC directly in command line by opt_cuzzola.m, then the robust MPC was not designed taking into account the robust invariant ellipsoid. When design the robust MPC using the rmpc_block in MATLAB/Simulink (i.e., using sdp_cuzzola.m), then the obtained results were correct. Fixed in: MUP v20141127.

MUP v20140530

improvements/changes:

  • extended list of available "Robust MPC Approach":
    • "SLF" renamed to the "Kothare et al. (1996)"
    • "PDLF" renamed to the "Cuzzola et al. (2002)"
    • added "Mao et al. (2003)",
    • added "Wan et al. (2003)",
    • added "Cao et al. (2005)",
    • added "Li et al. (2008)",
    • added "Huang et al. (2011)".
  • extended configuration of RMPC_BLOCK:
    • added "Optimizaion Problem Design: initial/reformulation" - added possibility to use repetitive reformulation of optimization problem.
    • added "Parameters".
  • extended outputs of RMPC_BLOCK:
    • added "feasibility: -1/0/1".

fixed bugs:

  • fixed bug in the feasibility check of "Cuzzola et al. (2002)".

known bugs and limitations:

  • missing m-file get_variat.m. Fixed in: MUP v20141120.

MUP v20130717

  • initial version

known bugs and limitations:

  • when "Feasibility check" = "enable" and "Robust MPC Approach" = "PDLF", then the feasibility check may return information about infeasible solution also in case the SDP was in fact feasible. Fixed in: MUP v20140530.

Updated