simulateSys

simulation of the real system behaviour

Contents

Syntax

[x,t,u] = simulateSys(sys,k,uc,xc,p,tFinal,Opts)

Description

This function simulates the behaviour of the real system. The value for the disturbances are chosen at random

Input Arguments

sys

object containing the dynamics of the closed-loop system (class: nonlinParamSys)

k

feedback matrix for the tracking controller (dimension: [nu,nx])

uc

reference control input (dimension: [nu,1])

xc

reference point of center trajectory (dimension: [nx,1])

p

initial point for the reachable set computation (dimension: [nx,1])

tFinal

time horizon for the simulation

Opts

a structure containing following options

.nw

number of system disturbances

.W

set of uncertain disturbances (class: interval)

Output Arguments

x

simulated trajectory

t

time points for the simulated trajectory

u

applied control inputs

See Also

reachsetMPC


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