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Error using lmiterm (line 281)
: ^4 h- B8 ^3 I7 T5 ^lhs of LMI #1, block (1,1): term dimensions incompatible with other
: I; d. C( C; a% o9 Sterms in row #1 or column #1 t- d6 ], |7 N- @( I& j v3 `
* F9 G( g$ Z7 Y3 P9 _8 VError in SCP_03 (line 103)
$ J( ~. E- N8 c q+ Z* a4 elmiterm([1 1 1 P1],-1,1)
6 y" G5 B, C) \) Y9 g* I
+ _; u& p7 a; _9 W/ J9 Z- Bclear
, T4 H3 `/ c, Lclc
9 s1 j0 E2 U5 @4 |( o& I" S- x- |6 T5 f# X! h _
gamma = 0.95;
' |9 @; c3 U- X7 e( j
, D3 f. G* e4 t4 y0 S" u Rsigma1 = 2;+ s/ S. V% |- o8 k( J8 \
sigma2 = 1.98;
4 q/ J' J5 l0 ~( {' Wsigma3 = 1.86;
, I0 {# A# l# w, Vsigma = sigma1+sigma2+sigma3;
; w9 ]/ T% `3 b$ b% G, W* V( @) D3 c3 r( D+ z& m8 Y; V
gamma1 = 0.89; O/ c% x- J8 y8 A- G2 o
gamma2 = 0.88;1 W6 D8 T; i. {
gamma3 = 0.85;
! [' l4 Q+ N0 l5 |0 Q; C6 c) GGamma = [gamma1, gamma1, gamma1; gamma2, gamma2, gamma2; gamma3, gamma3, gamma3];%3*3
9 k- B' G8 M' R, R! ?: D; L. I: Q4 V( u
Lambda = diag([2, 2]);%2*24 s' N# g. H2 [
; ^2 P+ E* I% m( c0 vW = [kron(Gamma, Lambda), zeros(6,3); zeros(3,6), zeros(3)];%9*9
2 K. @2 t e- T8 B2 [& d1 X5 c+ C- Q2 V
beta1 = 0.88;
5 u" l) }; T0 m& S5 E" ~beta2 = 0.85;
! u$ A" s( t2 gbeta3 = 0.87;1 U& `+ ]( h- I" Y) ]- B6 i" w
Xi = diag([beta1, beta2, beta3]);%3*39 P1 @0 Q( p0 D( X. ^
barXi = [kron(Xi, eye(2)), zeros(6,3); zeros(3,6), zeros(3)];%9*9' f' \4 a/ p5 r
* |9 ]. J3 ~$ cU = diag([1.68, 1.5, 1.68, 1.5, 1.68, 1.5, 0, 0, 0]);%花U1+U2 9*9
2 ~% K% q# i" w/ a* xL = diag([0.34, 0.34, 0.34, 0.34, 0.34, 0.34, 0, 0, 0]);%花L1+L2 9*9
% J% w7 }+ d5 D. t6 i5 B2 H" B$ H. E4 X+ Z e1 p
N = [0.1, 0.1, 0, 0, 0, 0, 0, 0, 0; 0, 0, 0.1, 0.1, 0, 0, 0, 0, 0; 0, 0, 0, 0, 0.1, 0.1, 0, 0, 0];%\barN 3*9
( K: A3 |1 I4 BM = [0.1, 0, 0; 0.2, 0, 0; 0, 0.1, 0; 0, 0.1, 0; 0, 0, 0.2; 0, 0, 0.1;zeros(3)];%\bARM 3*9
* [9 x! h r0 v' W: Y+ G) F; Z( u: m) U, | i
C =[0.5, -0.4, 0, 0, 0, 0; 0, 0, 0.3, 0.2, 0, 0; 0, 0, 0, 0, 0.4, -0.5];%3*6
6 N4 ]( X0 o% {* r, N! b
6 |- @, D3 M9 V& ~! B2 |K1 = [0.1, -0.2, 0.1; 0.3, -0.2, 0.1; 0.25, 0.1, 0.1; -0.2, 0.1, -0.3; -0.1, 0.4 0.25; 0.1, 0.2, 0.3; 0.3, -0.2, 0.2; 0.1, 0.25, 0.3; 0.15, 0.4, 0.25];%9*3
% [: p5 b$ ^: g5 _$ d, d) IK2 = [-0.1, 0.25, 0.1; 0.23, -0.2, 0.15; 0.25, -0.1, 0.1; 0.2, 0.15, 0.3; -0.1, 0.3 0.25; 0.1, 0.2, 0.3; 0.3, -0.2, 0.2; 0.1, 0.25, -0.3; 0.1, 0.4, 0.25];%9*3
0 [, _" W9 F3 `+ V. h. kK3 =[0.1, -0.2, 0.15; 0.3, -0.2, 0.1; 0.25, 0.1, 0.1; -0.2, 0.1, 0.3; -0.1, 0.4 0.2; -0.15, 0.2, 0.3; 0.3, -0.2, 0.25; -0.1, 0.25, 0.3; 0.15, 0.35, 0.25];%9*3, p i F$ r8 c2 Q* e! m
, Y3 \, [# H! SH = [0.2, 0.8, 0, 0, 0, 0, 0, 0, 0; 0, 0, 0.2, 0.8, 0, 0, 0, 0, 0; 0, 0, 0, 0, 0.2, 0.8, 0, 0, 0];%\barH 3*9" F7 _* m4 B. `: X
* O( P5 V& ~1 i+ X* u. {' }' oE = [0.3;0.3;0.3];%3*13 c6 b) ?( G2 n% h% U1 [: `, g
+ |) o2 a# B. h# ED = diag([0.5, 0.7, 0.4]);%3*3! w- S2 B- d8 _+ O
4 n5 k+ u/ x8 n+ @/ e/ Z' M1 k1 m+ m
A = [0.2, 0, 0, 0, 0, 0; 0.1, -0.3, 0, 0, 0, 0; 0, 0, 0.2, 0.1, 0, 0; 0, 0, 0.1, -0.2, 0, 0; 0, 0, 0, 0, -0.3, 0.1; 0, 0, 0, 0, 0, -0.2];%6*65 X$ s6 T; X2 G2 d
( T2 }* T2 V1 d8 w2 I
B = [0.6, 0, 0; 0.3, 0, 0; 0, 0.4, 0; 0, 0.5, 0; 0, 0, 0.8; 0, 0, 0.5];%6*3
, X$ ?* R* ?' f9 S+ O; V [. Q. ^' Z& {! f+ E: }8 w- y
theta(1) = 2;
. M% i p, l& i) i, U: Stheta(2) = 3;
, j. ~; ?- n& Ktheta(3) = 1;
( o X0 a5 `3 y; E% b4 ptheta(4) = 3;( o2 z, W: y* E9 d
0 ]- p6 J) A1 {# t- k
. s) t4 j6 u6 ~( m0 I# W" h9 }7 J6 k1 a
for k = 1:3
. \% E! l1 L2 }' K4 X9 X1 }1 h/ ~( c i = theta(k);! Z1 f% V$ A, p) @; G+ L
j = theta(k+1);0 a0 \8 A+ F- |1 i) m0 P! G
) j* Q( H$ d) B$ H0 E0 k; U5 t* @ Phi = zeros(3);: L: j3 g% _, t) Z2 X
2 L: i, T0 X/ j Ufor t = 1:3, Y- R" a* U7 G# g5 W
Y, d: `* K" y7 m if (i-t) ~= 0; U8 J/ U: s0 J1 D" ]
delta(t) = 0;: H0 G1 {. W! G' @+ P6 A
elseif (i-t) == 0;
9 C3 N& Y$ `4 x: J2 v delta(t) = 1;1 o4 l8 p& b+ s+ \& [
Phi(t,t) = delta(t);7 ^7 h4 b+ l8 _3 e. w
end
4 N# g: c" z3 ?; @' @/ u 8 S L4 \% u& c4 K6 D
end0 c: s& c9 `/ B' T
( ^3 r, G7 Y; s# ]! W0 Z barA = [A, zeros(6,3); (kron(Phi,eye(1)))*C, kron((eye(3)-Phi),eye(1))];%9*9
- L# n8 D+ o! f! O. B0 K9 C barB = [zeros(6,1), B; (kron(Phi,eye(1)))*E, (kron(Phi,eye(1)))*D];%9*4$ q6 l9 D' a. p) r& v; `
barC = [(kron(Phi,eye(1)))*C, kron((eye(3)-Phi),eye(1))];%3*9
+ q+ Z$ b( s! x3 u barD = [(kron(Phi,eye(1)))*E, kron(Phi,eye(1))*D];%3*4
+ g3 N. g" o9 Q) z8 p' ]( ^7 R4 rend
: M% o% p# T4 I1 L F' D& J2 z$ { % N=3 n=2 m=1 p=1 r=1 q=1 M=3
5 S+ F2 k* W0 Q0 r a1 z setlmis([])
+ P( P" G$ l1 G( `9 K7 n' { P11 = lmivar(1,[2 1]);
. U8 c: h' e" D" X* N" w P21 = lmivar(2,[2 1]);! d& E( r" o* w0 a+ I0 @ h4 M
P31 = lmivar(1,[1 1]);% s+ [( B8 j' M: P2 F" g2 M- o
P1 = lmivar(3,[kron(eye(3),P11),kron(eye(3),P21);kron(eye(3),P21'),kron(eye(3),P31)]);%9*9
; }9 Y. l# ?& B5 r: W" c8 w" a P12 = lmivar(1,[2 1]);7 ]* E4 o+ \" }6 z' W: g
P22 = lmivar(2,[2 1]);
/ q2 W+ p. d5 N6 q6 v6 B P32 = lmivar(1,[1 1]); u: Q' d" P$ ~5 k+ @- p
P2 = lmivar(3,[kron(eye(3),P12),kron(eye(3),P22);kron(eye(3),P22'),kron(eye(3),P32)]);%9*9
1 `# s. F' `. Q* Z- I P13 = lmivar(1,[2 1]);8 ?8 t! \/ \6 ^- l" {
P23 = lmivar(2,[2 1]);
( r' y% x5 u6 R6 ?/ A- x P33 = lmivar(1,[1 1]);
" r l/ F& @& T P3 = lmivar(3,[kron(eye(3),P13),kron(eye(3),P23);kron(eye(3),P23'),kron(eye(3),P33)]);%9*99 [$ K6 y V# r' u
Z1 = lmivar(2,[9 3]);
* h' |% a9 c2 G! F' f V, B7 h5 v Z2 = lmivar(2,[9 3]);0 L- [! c1 k: ]! U% \
Z3 = lmivar(2,[9 3]);
- f4 E& _# ]6 }) } Q = lmivar(1,[9 1]);8 @* m& U; x4 Z- h5 V6 V7 S: b* R
mu1 = lmivar(1,[1,1]);
: o% p# e8 p, y mu2 = lmivar(1,[1,1]);# s' K+ @+ Q" R1 ^; A: s
mu3 = lmivar(1,[1,1]);# a# u2 @" l E
s = lmivar(1,[1,1]);
' d) N& N: J# }& U; B# @0 P W7 [3 M3 Q barGamma = lmivar(1,[9 1]);2 @( L4 |* f% Y$ D& J' ^# [
barLambda = lmivar(1,[9 1]);* z; w1 B, f; L1 p1 n3 O2 ]# I# B
4 H1 j7 L8 h6 {! flmiterm([1 1 1 barLambda],2,1)
# F- l! K) j/ B+ k% Almiterm([1 1 1 P1],-1,1)
8 ?* ~9 G7 m; \' {% klmiterm([1 1 1 mu1],-1,U+U')
' Z- C5 X5 d/ F9 d# Elmiterm([1 1 1 mu2],-1,L+L')
% L2 E5 K7 c& e# Plmiterm([1 1 1 s],1,N'*N)
; ], h7 v/ ] F' i1 \lmiterm([1 1 1 0],H'*H). ^" S9 K/ t0 N3 @
lmiterm([1 1 5 mu1],1,U') Q5 |$ P& J8 E- z" L2 e1 C0 ~
lmiterm([1 1 7 mu2],1,L')# n) ]' j( }2 j6 L. v
lmiterm([1 1 12 P2],barA'+W',1)
6 ^ e! S/ y2 \lmiterm([1 2 2 P2],barC'*K1',K1*barC)
; y) ^9 ^* r- b1 g" b6 i& A# M# Ylmiterm([1 2 2 P2],barC'*K2',K2*barC); _; c$ E* F6 ^
lmiterm([1 2 2 P2],barC'*K3',K3*barC)/ l/ [ {7 }$ N8 k0 R8 ^. S
lmiterm([1 2 2 P1],-1,1)* k5 i, U' \) p- t1 D" F7 G9 [
lmiterm([1 2 2 mu1],-1,U+U')
' B/ f$ |: x: h3 n# m) a- rlmiterm([1 2 2 mu2],-1,L+L')% H0 w4 {1 y% Z$ C
lmiterm([1 2 6 mu1],1,U')" u7 }! S$ N9 p1 a
lmiterm([1 2 8 mu2],1,L')
% M3 G' ?9 g! @+ h* ^- M3 hlmiterm([1 2 11 P2],barC'*K1',K1*barD)
7 X! O F( F' P, ylmiterm([1 2 11 P2],barC'*K2',K2*barD)- T! L A+ p( Q9 j- ^9 X/ T
lmiterm([1 2 11 P2],barC'*K3',K3*barD)& t0 Q( G# [3 U2 x |3 I) y% O m# B
lmiterm([1 2 13 P2],barA'+W',1)6 \. I& q! u; v4 N6 y ?4 f
lmiterm([1 2 13 -Z2],-barC',1)
* U0 v# C$ X. }lmiterm([1 3 3 mu3],-1,L')! w) h1 B- D/ d8 W! F# U+ R. k
lmiterm([1 3 9 mu3],1,L+L')
) Y; v6 u, ^2 [+ jlmiterm([1 4 4 mu3],-1,L+L')' s2 F3 k; o+ C" [
lmiterm([1 4 10 mu3],1,L')! [% c T! z7 K2 q4 g. j8 [4 t: {
lmiterm([1 5 5 mu1],-2,eye(9))! j. `- J9 B/ u$ u
lmiterm([1 5 12 P2],1,1)
8 w: [* J( \. h0 o$ w) C( Hlmiterm([1 6 6 mu1],-2,eye(9))% V5 S/ o# t; E+ K
lmiterm([1 6 13 P2],1,1)' H+ X; `" @) f6 \% ^
lmiterm([1 7 7 Q],1,1)
$ {" `3 M% v' v) m2 i$ n& flmiterm([1 7 7 mu2],-2,eye(9))7 O( a7 A9 d* @" l$ b A
lmiterm([1 8 8 Q],1,1)
2 A4 f3 g1 p3 } I5 Glmiterm([1 8 8 mu2],-2,eye(9)); `# W( O- D7 k: g* @
lmiterm([1 9 9 barGamma],2,1)1 W' }3 ?7 K4 f+ v' y
lmiterm([1 9 9 Q],-1,1)
& ~/ A, f& D! o4 \lmiterm([1 9 9 mu3],-2,eye(9))3 T, C- v* \" i7 z
lmiterm([1 9 12 P2],barXi',1)
9 E2 ?/ y+ F" z+ ~lmiterm([1 10 10 Q],-1,1)
; A+ @5 s! o' K0 ?& tlmiterm([1 10 10 mu3],-2,eye(9)): V* v+ \( c# y+ B
lmiterm([1 10 13 P2],barXi',1)
: m X' J8 H9 p. B) Nlmiterm([1 11 11 P2],barD'*K1',K1*barD)) i5 e5 i8 f: w4 Y- }& ]* P
lmiterm([1 11 11 P2],barD'*K2',K2*barD)) s0 k5 |5 W+ X" b$ f+ L) `
lmiterm([1 11 11 P2],barD'*K3',K3*barD)
, V; Z! F; ], \+ Blmiterm([1 11 11 0],-(gamma^2)*eye(4))
: D" o# @3 S" i llmiterm([1 11 12 P2],barB',1)
- _ {& \3 ^ Ilmiterm([1 11 13 P2],barB',1)
6 I. J; ]* ~* u( s3 L! Zlmiterm([1 11 13 -Z2],-barD',1): W* a" _7 g7 A9 S1 L
lmiterm([1 12 14 P2],1,M)/ u) F" r1 y0 p8 P4 J" _ e z; y
lmiterm([1 13 14 P2],1,M)
* P9 `' z0 l1 v' K( {4 [/ w, {" F4 m
lmiterm([-1 1 1 P1],1,1)% D: I( g8 }- H: c' V
lmiterm([-2 1 1 P2],1,1)
5 G0 {. ^# `& ?2 d! Llmiterm([-3 1 1 P3],1,1) g$ o; f: q9 C6 z
- ~" `/ F" y# i; I$ tlmiterm([2 1 1 barLambda],2,1)9 j0 t& {5 u" }9 G7 w& x( i. S
lmiterm([2 1 1 P2],-1,1)
3 T1 W, }/ l0 }* L" B- Almiterm([2 1 1 mu1],-1,U+U')
3 x; y/ x8 p. \lmiterm([2 1 1 mu2],-1,L+L')
% ?' y/ `1 x+ l4 z1 B: slmiterm([2 1 1 s],1,N'*N)5 O2 M7 `/ U. E
lmiterm([2 1 1 0],H'*H)
( m! t3 Y z7 F9 s! y$ r" clmiterm([2 1 5 mu1],1,U')
3 a- i! U g: `7 Z9 s1 k, p1 Klmiterm([2 1 7 mu2],1,L')
0 |* L+ {; ^9 i8 q* ^7 d8 \lmiterm([2 1 12 P3],barA'+W',1)
/ R" S+ z% T6 B% h5 B* u' ~) slmiterm([2 2 2 P3],barC'*K1',K1*barC). X& E6 }- |# n: V
lmiterm([2 2 2 P3],barC'*K2',K2*barC)
* W. t: M* X' T' `0 I9 r4 W0 o6 ~lmiterm([2 2 2 P3],barC'*K3',K3*barC): c3 P0 I, t# W# }" N3 r5 U
lmiterm([2 2 2 P2],-1,1)8 X0 S Z; `- R: R# C
lmiterm([2 2 2 mu1],-1,U+U'), K8 o+ T# g( t6 Z0 {9 o
lmiterm([2 2 2 mu2],-1,L+L')% ? q+ X3 d% q' j7 b% u
lmiterm([2 2 6 mu1],1,U')
& n# s8 Z8 O& {! {4 B# k- flmiterm([2 2 8 mu2],1,L')& E' h8 ~0 }. l7 j$ m6 |& i. F
lmiterm([2 2 11 P3],barC'*K1',K1*barD)
, R3 U$ ]+ o8 ]. X$ X1 hlmiterm([2 2 11 P3],barC'*K2',K2*barD)4 L! \' ?7 @! E$ B4 u
lmiterm([2 2 11 P3],barC'*K3',K3*barD)1 N7 L* P" L' k: r4 c: @1 B$ S7 _
lmiterm([2 2 13 P3],barA'+W',1)
/ `# m5 T: {* i- H7 b& A- ylmiterm([2 2 13 -Z3],-barC',1)
8 j, w- z- K7 `8 ?6 f* wlmiterm([2 3 3 mu3],-1,L')
6 _5 q: I2 T& h1 i1 Glmiterm([2 3 9 mu3],1,L+L')4 t2 W, V. w) h9 ?5 q; i
lmiterm([2 4 4 mu3],-1,L+L')
. m% o Z* o) F, C5 t0 y5 k' x' slmiterm([2 4 10 mu3],1,L')' u4 _0 g: H# t- K" K* t/ u8 ]
lmiterm([2 5 5 mu1],-2,eye(9))
0 l! A h) a% E5 {& U$ @& glmiterm([2 5 12 P3],1,1)
( w; T! l$ Z6 u) t: ]# s T! b7 Blmiterm([2 6 6 mu1],-2,eye(9))6 s4 B# L& |+ j
lmiterm([2 6 13 P3],1,1)5 x0 B$ [+ T- S2 Q
lmiterm([2 7 7 Q],1,1)) W& h4 ^' U" c7 v6 l6 O
lmiterm([2 7 7 mu2],-2,eye(9))
% B/ J/ G3 k) T2 |3 k# ylmiterm([2 8 8 Q],1,1)" v% d2 w8 r# ]
lmiterm([2 8 8 mu2],-2,eye(9))
: s E( d" R% [lmiterm([2 9 9 barGamma],2,1)
; b+ I7 a) O' S7 Y/ Ylmiterm([2 9 9 Q],-1,1), v: F6 M. c n7 b6 `* \
lmiterm([2 9 9 mu3],-2,eye(9))
- V- B$ b" D' Y; hlmiterm([2 9 12 P3],barXi',1)' [6 X2 i/ W. ]3 D. x1 p
lmiterm([2 10 10 Q],-1,1)0 C0 `' Z# H0 s8 E* X
lmiterm([2 10 10 mu3],-2,eye(9))
8 r- K0 p7 X3 d9 }, R) a) ylmiterm([2 10 13 P3],barXi',1)
) r2 ^* [; B# `" Z; vlmiterm([2 11 11 P3],barD'*K1',K1*barD)8 K) u* W& C" M0 M
lmiterm([2 11 11 P3],barD'*K2',K2*barD)
& r. U3 y2 E' _" {: r6 L8 hlmiterm([2 11 11 P3],barD'*K3',K3*barD)" \ [/ v+ v v; m
lmiterm([2 11 11 0],-(gamma^2)*eye(4))
/ X) s( r( e* V/ {' w; Blmiterm([2 11 12 P3],barB',1)% J4 @- F. r1 w6 g; Y
lmiterm([2 11 13 P3],barB',1)
( W r e6 o! Tlmiterm([2 11 13 -Z3],-barD',1)
+ @" ~; y D, t6 A+ olmiterm([2 12 14 P3],1,M)8 v2 F" U& T) {0 [; D2 E, Y
lmiterm([2 13 14 P3],1,M)
4 T: _( T+ j; a. k/ ^+ r- H7 o
% ^5 H* S8 r7 r2 c" HG=getlmis;
% g U& X. p5 P- ?6 t6 a[tmin b]=feasp(G);
1 a' S' W2 o4 N: B$ ^. a2 {6 @3 k3 V+ G$ b% M
P11 = dec2mat(G,b,P11);
# h d2 O7 r6 O" o3 NP21 = dec2mat(G,b,P21);) U; \0 c5 L; N7 n& b$ Y
P31 = dec2mat(G,b,P31);& T- \7 c7 d" s3 h
P1 = [kron(eye(3), P11), kron(eye(3), P21); kron(eye(3), P21'), kron(eye(3), P31)]
6 k; p9 n2 x" K; \" }! f0 TP12 = dec2mat(G,b,P12);# `+ g" w4 {9 M& ~/ d$ P) K
P22 = dec2mat(G,b,P22);
N$ B: G: [' b$ d9 ^; n% WP32 = dec2mat(G,b,P32);
1 Z5 ]+ W- Z$ b1 k4 yP2 = [kron(eye(3), P12), kron(eye(3), P22); kron(eye(3), P22'), kron(eye(3), P32)]# o" z1 _- u& m/ H) o( s
P13 = dec2mat(G,b,P13);. ?, ^- U% K2 B; r8 _6 d
P23 = dec2mat(G,b,P23);; Q1 ?: Z, G4 d
P33 = dec2mat(G,b,P33);& W2 K3 G# m0 b& Y( o! h$ C) ]1 u; `
P3 = [kron(eye(3), P13), kron(eye(3), P23); kron(eye(3), P23'), kron(eye(3), P33)]
$ i1 [( N" ^3 i: ?( D4 s( B7 yZ(1) = dec2mat(G,b,Z(1));
* R- |% I; g7 G7 a" C# }; NZ(2) = dec2mat(G,b,Z(2));& ~7 Q$ M& U" m9 |. b% x1 C$ L$ s1 D
Z(3) = dec2mat(G,b,Z(3));' q, ~& @% u+ [6 z
barGamma = [kron(Xi*(eye(3)-Xi), P(1i).P(i)), zeros(6,3); zeros(3,6), zeros(3)];
7 z" v3 k& Q/ T+ n s! ubarLambda = [kron(sigma*eye(3), Lambda'*(P(1i).P(i))*Lambda), zeros(6,3); zeros(3,6), zeros(3)];7 `9 ^; _3 J) n5 {; t
Q = dec2mat(G,b,Q)" f7 o; c& j, t. ^: `4 l
mu1 = dec2mat(G,b,mu1)
) Z5 G) k) B- t: f @7 Y$ ~& Mmu2 = dec2mat(G,b,mu2)9 p( t# ^2 w. u. _6 l, L
mu3 = dec2mat(G,b,mu3)1 _, p5 H5 o( N' E$ B
s = dec2mat(G,b,s)
9 C$ F8 S- s1 T7 G5 c* W |
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发表于 2021-3-15 13:25
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