closedLoopSystemLin

constructs a linear system for the closed-loop dynamics

Contents

Syntax

dx = closedLoopSystemLin(A,B,D,c,K,u_ref)

Description

This function contructs a linear system object for the closed-loop dynamics for the optimization based controller from the system matrices of the uncontrolled system and the control law parameters.

Input Arguments

A

system matrix of the open-loop system

B

input matrix of the open-loop system

D

disturbance matrix of the open-loop system

c

constant offset vector of the open-loop system

K

feedback matrix for the control law u = u_ref + K(x-x_ref)

u_ref

reference input for the control law u = u_ref + K(x-x_ref)

Output Arguments

sys

linear system object for the closed-loop dynamics (class: linearSys)

See Also

optimizationBasedControl


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