. ├── check_coverage.sh # check coverage of this package ├── conftest.py ├── demos │ ├── demo2_plot_poly_feasible.py │ ├── demo_linprog.py │ ├── demo_plot2d_poly_feasible_raw.py │ └── demo_plot_poly_feasible.py ├── file_overview.md (this file you are reading) ├── README.md ├── requirements.txt ├── tests │ ├── pycache │ │ ├── test_constraint.cpython-39-pytest-7.1.2.pyc │ │ ├── test_exp2.cpython-39-pytest-7.1.2.pyc │ │ ├── test_exp.cpython-39-pytest-7.1.2.pyc │ │ ├── test_mpc.cpython-39-pytest-7.1.2.pyc │ │ ├── test_pos_inva.cpython-39-pytest-7.1.2.pyc │ │ ├── test_qp_mpc_tube.cpython-39-pytest-7.1.2.pyc │ │ └── test_s_infinity_alpha_j.cpython-39-pytest-7.1.2.pyc │ ├── test_constraint.py │ ├── test_exp2.py │ ├── test_exp.py │ ├── test_mpc.py │ ├── test_pos_inva.py │ ├── test_qp_mpc_tube.py │ └── test_s_infinity_alpha_j.py └── tmpc ├── block_lqr_loss.py ├── constraint_block_horizon_stage_x_u.py ├── constraint_block_horizon_terminal.py ├── constraint_eq_ldyn_1_terminal.py ├── constraint_eq_ldyn.py ├── constraint_pos_inva_terminal.py ├── constraint_s_inf.py ├── constraint_stage_interface.py ├── constraint_tightening.py ├── constraint_tightening_z0w.py ├── constraint_tightening_z_terminal.py ├── constraint_x_u_couple.py ├── dyn_sys.py # A, B, STATE feedback ├── init.py ├── loss_terminal.py # Lyapunov ├── memo.py # log trajectory ├── mpc_qp.py # mpc without tube ├── mpc_qp_tube.py # mpc with tube ├── riccati.py # riccati equation to find K_w and K_z ├── simulate.py # Exp class that combines simulator of dynamic system and controller ├── solver_quadprog.py # QPsolver ├── support_decomp.py # decomposition ├── support_fun.py # support function of a set ├── support_set_inclusion.py # check set inclusion ├── utils_case2.py # examples on system A, B matrix ├── utils_case.py ├── utils_plot_constraint.py # matplotlib for constraint visurualization └── utils_scenario.py # Not used yet
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