compute_controller_base_parameters.m

function param = compute_controller_base_parameters
    % load truck parameters
    load('system/parameters_building');
    
    % Task 1: continuous time dynamics in state space form
    Ac = [-(building.a_F1_VC +building.a_F2_VC +building.a_Env_VC), building.a_F1_VC, building.a_F2_VC;
          building.a_F1_VC, -(building.a_F1_VC +building.a_F2_F1), building.a_F2_F1;
          building.a_F2_VC, building.a_F2_F1, -(building.a_F2_VC +building.a_F2_F1)];
    Ac(1,:) = Ac(1,:)./building.m_VC;
    Ac(2,:) = Ac(2,:)./building.m_F1;
    Ac(3,:) = Ac(3,:)./building.m_F2;
    
    Bc = [building.b_11, building.b_12, building.b_13;
          building.b_21, building.b_22, building.b_23;
          building.b_31, building.b_32, building.b_33];
    Bc(1,:) = Bc(1,:)./building.m_VC;
    Bc(2,:) = Bc(2,:)./building.m_F1;
    Bc(3,:) = Bc(3,:)./building.m_F2;
    
    Bdc = diag([1/building.m_VC, 1/building.m_F1, 1/building.m_F2]);

    d = [(building.d_VC +building.a_Env_VC*building.T_Env);
         building.d_F1;
         building.d_F2];
    
    %% Task 2: discretization
    Ts = 60;
        
    % EXACT
    A = expm(Ts*Ac);
    B = Ac\(A-eye(3))*Bc;
    Bd = Ac\(A-eye(3))*Bdc;   
    
    %% Task 3: set point computation
    
    T_sp = [25; -42; -18.5];
    p_sp = B\( (eye(3)-A)*T_sp -Bd*d );
    b_ref = T_sp;
    C_ref = eye(3);
    
    % Task 4: constraints for delta formulation
    Pcons = building.InputConstraints;
    Tcons = building.StateConstraints;
    Ucons = Pcons -p_sp;
    Xcons = Tcons -T_sp;
    
    %% put everything together
    param.A = A;
    param.B = B;
    param.Bd = Bd;
    param.d = d;
    param.b_ref = b_ref;
    param.C_ref = C_ref;
    param.T_sp = T_sp;
    param.p_sp = p_sp;
    param.Ucons = Ucons;
    param.Xcons = Xcons;
    param.Tcons = Tcons;
    param.Pcons = Pcons;
end