dynamicsClosedLoopLinear
system dynamics for the closed-loop system controlled with the linear control law
Contents
Syntax
Description
This function implements the closed loop system dynamics for the case that the system is controlled by the linear control law. Thereby, the original system dynamics of the benchmark models are extended by auxiliary states that store the input zonotope as well as the states at the beginning of the time step. The implementation with auxiliary states guarantees that the control inputs are kept constant during one time step. Further, the value from the input zonotope (=control input) is insterted into the open-loop system dynamic of the benchmark modlel, which yields the equations for the closed-loop system.
Input Arguments
x |
system states x (dimension: [nx,1]) |
u |
disturbances = input to the closed loop controlled systme (dimension: [nx,1]) |
nx |
number of system states |
nu |
number of control inputs to the system |
dynamics |
function handle to the function implementing the open-loop dynamics of the system |
Output Arguments
f |
value of the dynamic funcion = time derivative of x |
See Also
convexInterpolationControl, dynamcisClosedLoopExact
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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