linearizeSystem
compute linearized discrete time systems
Contents
Syntax
Description
This function computes the linearized discrete time system for all time steps along the reference trajectory
Input Arguments
xCenter |
reference trajectory states |
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uCenter |
reference trajectory inputs |
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Opts |
a struct containing the following fields
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Output Arguments
A |
cell-array storing the system matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c |
B |
cell-array storing the input matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c |
c |
cell-array storing the constant offset of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c |
xf |
cell-array storing the goal states for each time step |
See Also
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