simulate
simulates a system controlled with a LQR comfort controller
Contents
Syntax
Description
Simulates the closed-loop system for one time step of the LQR (Linear Quadratic Regulator) controller which is used as a comfort controller during online application of the Safety Net Controller.
Input Arguments
obj |
object of class comfContrLQR storing the control law computed in the offline-phase |
x0 |
initial point for the reachable set computation |
w |
matrix storing the values for the disturbances over time (dimension: [nw,timeSteps]) |
Param |
control parameters computed during reachability analyis |
iter |
current iteration (=time step) of the Safety Net Controller |
Output Arguments
t |
vector storing the time points for the simulated states |
x |
matrix storing the simulated trajectory (dimension: [t,nx]) |
u |
matrix storing the applied control input (dimension: [t,nu]) |
See Also
safetyNetControl, reachSet, comfContrLQR
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