simulate
simulate a trajectory of a nonlinear system controlled with the controller based on optimal control in generator space
Contents
Syntax
Description
Simulate a trajectory of a nonlinear closed-loop system controlled with the controller based on optimal control in generator space for a given initial point and given specific disturbance values over time.
Input Arguments
obj |
object of class objGenSpaceContr storing the control law computed in the offline-phase |
res |
existing results object to which the simulation results should be added |
x0 |
initial point for the simulation |
w |
matrix storing the values for the disturbances over time (dimension: [nw,N*Ninter]) |
Output Arguments
res |
results object storing the simulation data |
t |
vector storing the time points for the simulated states |
x |
matrix storing the simulated trajectory (dimension: [t,nx]) |
u |
matrix storing the control inputs for the simulated trajectory (dimension: [t,nu]) |
See Also
generatorSpaceContr, simulateRandom
References
- [1] Schuermann et al. (2017), Guaranteeing constraints of disturbed nonlinear systems using set-based optimal control in generator space
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