closedLoopTracking

dynamic equtions for the controlled system (tracking controller)

Contents

Syntax

f = closedLoopTracking(x,w,p,dyn,nu)

Description

This function contains the dynamic equations for the system controlled with the tracking controller u = u_ref + K (x - x_ref)

Input Arguments

x

extended system state [x;x_ref] (dimension: [2*nx,1])

w

disturbances (dimension: [nw,1])

p

parameter vector containing the reference control input and the entries of the feedback matrix (dimension: [nu*(nx+1),1])

dyn

function handle specifying the open-loop dynamics

nu

number of system inputs (scalar)

Output Arguements

f

value of the dynamic equtions (dimension: [2*nx,1])

See Also

reachsetMPC

References


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