HI guys, I have some problem during running the code below and it give me the error
- Index exceeds array dimensions. Index value 3 exceeds valid range [1-2] for array 'a'. Error in 'TEST/TEST' (line 18) if a(i)> 0
This code is the code for computiong the parameter k for the scalar reference governor. and Hx and Hv is the maximal admissible output sets(MAS) with the matrices A,B,C,D hope can get some help to fix this code form your all.
function v = SRG_new(v_previous, r)
A=[0 1;-275.5 -21.22];
B=[0;1];
C=[11.02 275.5];
D=0;
I=eye(2);
Hx=(C*A);
Hv= C*((I-A)*((I-A)^-1)*B+D);
s=350; %s=max_output
a=Hx*(r-v_previous);
b=s-Hx-Hv*v_previous;
k=1;
for i=1:100
if a(i)> 0
k=min(k, b(i)/a(i));
end
end
k=max(k,0);
v=v_previous + k*(r-v_previous);
end
A couple of remarks. In Hv you need brackets around the power (-1).
But if D=0 why do it so difficult anyway? The I-A and (I-A)^(-1) cancel don't they?
So your Hv=C*B.
Now for your problem. Your Hx is a 1 by 2 matrix. If the program complains about indices running out of allowed range you should ask yourself: what size matrix is my a? That depends on the matrix r-v_previous. You do not tell us what they are,
but from here on I think you can figure it out.
Yen Li, I noticed you put "i=1:100".
The dimension(size) of the a is a covector =>(1,2)!
The error that you get is due to this fact.
You may change 100 to 2, and the code will run without an error.
But I am not sure if you intend to iterate for two times.
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