MATLAB中Yalmip工具,yalmip工具箱使用问题

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使用yalmip自带的yalmipdemo函数进行测试，但是优化的结果经常会出现NaN，如下例所示，(最后是运行结果，出现了NaN)哪位大神知道这是为什么啊？

%*********************************************************

%

% Model predictive control example

%

%*********************************************************

%

% In this example, we solve quadratic problems using

% semidefinite programming, second order cone programming

% and quadratic programming.

% MPC settings

N = 5;

pause % Strike any key to continue.

% Create numerics for a discretized double integrator

A = [2 -1;1 0];

B = [1;0];

C = [0.5 0.5];

[H,S] = create_CHS(A,B,C,N)

H =

1.5000 -0.5000

2.5000 -1.5000

3.5000 -2.5000

4.5000 -3.5000

5.5000 -4.5000

S =

0.5000 0 0 0 0

1.5000 0.5000 0 0 0

2.5000 1.5000 0.5000 0 0

3.5000 2.5000 1.5000 0.5000 0

4.5000 3.5000 2.5000 1.5000 0.5000

pause % Strike any key to continue.

% Initial state

x = [2;0];

% Define free variables

t = sdpvar(1,1);

U = sdpvar(N,1);

pause % Strike any key to continue.

% Define the prediction vector

Y = H*x+S*U;

pause % Strike any key to continue.

% Control constraints

F = set(-1 < U < 1);

% Terminal constraint

F = F+set(-1 < Y(N) < 1);

pause % Strike any key to continue.

% Our goal is to minimize the quadratic function Y'*Y+U'*U

%

% Performance constraint written as an SDP using Schur complement

% (very inefficient way to solve a QP...)

F = F+set([t Y' U';Y eye(N) zeros(N,N);U zeros(N,N) eye(N)]>0)

+++++++++++++++++++++++++++++++++++++++++++++++++++

| ID| Constraint| Type|

+++++++++++++++++++++++++++++++++++++++++++++++++++

| #1| Numeric value| Element-wise 10x1|

| #2| Numeric value| Element-wise 2x1|

| #3| Numeric value| Matrix inequality 11x11|

+++++++++++++++++++++++++++++++++++++++++++++++++++

pause % Strike any key to continue.

% Solve

sol = solvesdp(F,t);

pause % Strike any key to continue.

% Look at solution

double(U)

ans =

NaN

NaN

NaN

NaN

NaN

double(Y(N))

ans =

NaN

pause % Strike any key to continue.