main.m

clear all
close all
clc

% adding the subfolders to the path
addpath(genpath('functions'))
addpath(genpath('data'))

% loads:
%    hovering equilibrium (xs,us)
%    continuous time matrices Ac,Bc of the linearization
%    matrices sys.A, sys.B of the inner-loop discretized with sampling period sys.Ts
%    outerController optimizer instance for the outer controller
load('quadData.mat')
outerController = getOuterController(Ac);
disp('Data successfully loaded')

%%%%%%%%%%%%%%%% ADD YOUR CODE BELOW THIS LINE %%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%    First MPC controller %%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf('PART I - First MPC controller...\n')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%  Reference Tracking %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf('PART II - Reference tracking...\n')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%  First simulation of the nonlinear model %%%%%%%%%%%%%%%%%
fprintf('PART III - First simulation of the nonlinear model...\n')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%  Offset free MPC  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf('PART IV - Offset free MPC...\n')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%  Simulation of the nonlinear model %%%%%%%%%%%%%%%%%%%%
fprintf('PART V - simulation of the nonlinear model...\n')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%  Slew Rate Constraints %%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf('PART VI - Slew Rate Constraints...\n')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%%%%%  Soft Constraints %%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf('PART VII - Soft Constraints...\n')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%  FORCES Pro %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf('PART VIII - FORCES Pro...\n')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%