simulateRandom

simulate random trajectories of a nonlinear system controlled with the Safety Net Controller

Contents

Syntax

[res,t,x,u,flag] = simulateRandom(obj,res,Npoints,fracVert,fracDistVert,distChanges)

Description

Simulate a trajectories of a nonlinear closed-loop system controlled with the Safety Net Controller for multiple random initial points and randomly drawn disturbance values.

Input Arguments

obj

object of class objConvInterContr storing the control law computed in the offline-phase

res

existing results object to which the simulation results should be added

Npoints

number of initial points for which trajectories are simulated

fracVert

fraction of random initial points corresponding to vertices of the initial set (value in [0,1])

fracDistVert

fraction of random disturbance values corresponding to vertices of the disturbance set (value in [0,1])

distChanges

number of changes of the disturbance values during one time step of the algorithm (integer > 0)

Output Arguments

res

results object storing the simulation data

t

cell-array storing the vectors with the time points for all simulated trajectories

x

cell-array storing the matrices with all simulated trajectories

u

cell-array storing the applied control inputs for all simulated trajectories

flag

cell-array storing a flag that specifies which controller was active for all simulated trajectories (1: comfort controller, 0: safety net controller)

See Also

safetyNetControl, simulate


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