37 lines
779 B
Mathematica
37 lines
779 B
Mathematica
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function sys = gkyp(K,S,P,M)
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%KYP Create generalized KYP matrix variable
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%
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% X = KYP(K,S,P,M)
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%
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% KYP is used to generate the matrix
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%
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% K'*(kron(S,P))*K + M;
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%
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% Note, Information is stored internally to inform YALMIP that this is a
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% object defined from a KYP structure. Hence, the objects KYP(K,S,P,M) and
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% the manually generated SDPVAR K'*(kron(S,P))*K + M are not equivalent.
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%
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% The knowledge about the underlying KYP structure can be exploited by some
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% solvers.
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if nargin<4
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M = 0;
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elseif isempty(M)
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M = 0;
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end
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kyp_part = K'*kron(S,P)*K;
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if isempty(M)
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sys = kyp_part;
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else
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sys = kyp_part+M;
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end
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sys.typeflag = 40;
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sys.extra.K{1} = K;
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sys.extra.Phi{1} = S;
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sys.extra.P{1} = P;
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if isempty(M)
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M = 0;
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end
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sys.extra.M = M;
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sys.extra.negated = 0;
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