simulate

simulate a trajectory of a nonlinear system controlled with the Convex Interpolation Controller

Contents

Syntax

[res,t,x,u] = simulate(obj,res,x0,w)

Description

Simulate a trajectory of a nonlinear closed-loop system controlled with the Convex Interpolation Controller for a given initial point and given specific disturbance values over time.

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

x0

initial point for the simulation

w

matrix storing the values for the disturbances over time (dimension: [nw,timeSteps])

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 applied control input (dimension:[|t],nu])

See Also

optimizationBasedControl, simulateRandom

References


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