Please help me to overcome the error of the my code

Hi , Is there anyone to help me o solve the error? please i become confused.

Bw=zeros(3,1);
Cg=[0 0 1];  Cz=[0 0 1];
Dzu=0; Dzw=1; Dw=1;
r1=-0.1; r2=0.5; r3=-1.2;r4=0.2;
Ag{1} =[0 0 -(r1+.2*r1);1 0 -(r2+0.2*r2);0 1 -(r3+0.2*r3)]
Bg{1}=[r4+0.2*r4;1;0]
P{1,1} = ss(Ag{1}, [Bg{1} Bw], [Cz;Cg], [Dzu Dzw;0 Dw],0.1)
Ts = 0.1
z = tf('z',Ts)
s = tf('s')
phi = conphi('laguerre',[Ts,0,2],'z',z/(z-1))
W{1}=0.4902*(z^2-1.0432*z+0.3263)/(z^2-1.282*z+0.282);
Ld = 0.2/s
per =conper('Hinf',W,Ld)
K = condes(P{i,k},phi,per)
[a,b,c,d]=ssdata(K);

the error is on " K = condes(P{i,k},phi,per)" and error is : Index exceeds matrix dimensions.

Error in condes (line 988) K1{k}(p,q) = minreal(transpose(x(nn+k:Ngs:nn+Ngs*n(p,q))) * phi{p,q});

Error in firstexx (line 43) K = condes(P{i,k},phi,per)

Answer 1

[Torsten]

I don't see variables i and k to define P{i,k}.

Best wishes

Torsten.

[elahe mastani]

P{i,k} is P{1,1}. I forgot to edit it.

[Torsten]

But also in the error message, K depends on a variable P{i,k}, not P{1,1}.

[elahe mastani]

okay let me send whole code.

Bw=zeros(3,1);
Cg=[0 0 1];  Cz=[0 0 1];
Dzu=0; Dzw=1; Dw=1;
r1=-0.1; r2=0.5; r3=-1.2;r4=0.2;
Ag{1} =[0 0 -(r1+.2*r1);1 0 -(r2+0.2*r2);0 1 -(r3+0.2*r3)]
Ad{2} =[0 0 -(r1+.2*r1);1 0 -(r2-0.2*r2);0 1 -(r3+0.2*r3)]
Ad{3} =[0 0 -(r1+.2*r1);1 0 -(r2+0.2*r2);0 1 -(r3-0.2*r3)]
Ad{4} =[0 0 -(r1-.2*r1);1 0 -(r2+0.2*r2);0 1 -(r3+0.2*r3)]
Ad{5} =[0 0 -(r1-.2*r1);1 0 -(r2-0.2*r2);0 1 -(r3+0.2*r3)]
Ad{6} =[0 0 -(r1+.2*r1);1 0 -(r2-0.2*r2);0 1 -(r3-0.2*r3)]
Ad{7} =[0 0 -(r1-.2*r1);1 0 -(r2+0.2*r2);0 1 -(r3-0.2*r3)]
Ad{8} =[0 0 -(r1-.2*r1);1 0 -(r2-0.2*r2);0 1 -(r3-0.2*r3)]
Bg{1}=[r4+0.2*r4;1;0];Bg{2}=[r4-0.2*r4;1;0];
OP = ss(Ag{1},[Bg{1} Bw],[Cz;Cg],[Dzu Dzw;0 Dw],0.1)
%%step procedure
% ST =epsilion > 0; % small tolerance
% step 1  % 15 ITeration
for i=1:8
    for k=1:2
        for l = 0
            if l==0
                %initial controller for each vertices
                P{i,k} = ss(Ag{i}, [Bg{k} Bw], [Cz;Cg], [Dzu Dzw;0 Dw],0.1)
                Ts = 0.1
                z = tf('z',Ts)
                s = tf('s')
                phi = conphi('laguerre',[Ts,0,2],'z',z/(z-1))
                W{1}=0.4902*(z^2-1.0432*z+0.3263)/(z^2-1.282*z+0.282);
                Ld = 0.2/s
                per =conper('Hinf',W,Ld)
                K = condes(P{i,k},phi,per)
                [a,b,c,d]=ssdata(K); 
            else
                a= ACRi
                b= BCRi
                c= CCRi
                d= DCRi
                Ki=ss(a,b,c,d,0.1);
            end
            % step 2
            A =[Ag{i}+Bg{k}*d*Cg Bg{k}*c;b*Cg a];
            B=[Bw+Bg{k}*d*Dw;b*Dw]; C=[Cz+Dzu*d*Cg Dzu*c] ; D=Dzw+Dzu*d*Dw;
            n = size(A,1);
            cvx_begin sdp
            variable X(n,n)  symmetric  ;
            variable Q(n,n)  symmetric  ;
            variable MT(n,n) ;
            variable mu

              minimize mu
              subject to
              [(Q-A'*Q*A) (Q*A+MT-X*A)' (B'*MT-B'*X*A)' C';
                  (Q*A+MT-X*A) 2*X-Q (B'*X)' zeros(n,1);
                  (B'*MT-B'*X*A) B'*X eye(1,1) D';
                  C zeros(1,n) D mu*eye(1,1)]<0;
              cvx_end
              T = inv(chol(X));
              M = T'*MT*T;
              P =T'*Q*T;
              % step 3
              m = size(Ag{i},1);
              cvx_begin sdp
              variable Aci(m,m)  symmetric;
              variable Bci(m,1)  symmetric;
              variable Cci(1,m)  symmetric;
              variable Dci(1,1)  symmetric;
              variable mu

              minimize mu
              subject to
              [P-M'*P*M (P*M-M+inv(T)*A*T)' (zeros(1,2))' (C*T)';
                  P*M-M+inv(T)*A*T 2*eye(n,n)-P inv(T)*B zeros(1,2)';
                  zeros(1,2) (inv(T)*B)' eye(n,1) D';
                  C*T zeros(1,2) D mu*eye(1,1)]<0
              ACRl=Aci
              BCRl= Bci
              CCRl=Cci
              DCRil= Dci
              cvx_end
              pause
              %step 4
              if mu(l-1)-mu(l)>0
                  l=l+1
              else
                  Kl=ss(ACRl,BCRl,CCRl,DCRl,0.1)
                  break
              end
          end
      end
  end

[elahe mastani]

can you help me on it?