문제 설정

다음 시스템에 대한 nonlinear MPC를 설계하세요.

• System : Inverted pendulum (https://cdsl-uos-wiki.notion.site/CICS-2022-NMPC-1-Discretization-83db5b415568451eb1fce85dded463e8)

• Control goal : Stabilization
• Input constraint : $-0.1\leq u(k)\leq 0.1$
• State constraint : $-\pi/3 \leq \theta(k)\leq \pi/3$, $-1\leq \dot{\theta}(k)\leq 1$

작성 코드 예시

run_optimization_CICS_2022.m