simulateRandom
simulate random trajectories of a nonlinear system controlled with the Convex Interpolation Controller
Contents
Syntax
Description
Simulate a trajectories of a nonlinear closed-loop system controlled with the Convex Interpolation Controller for multiple random initial points and randomly drawn disturbance values.
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 |
Npoints |
number of initial points for which trajectories are simulated |
fracVert |
fraction of random initial points corresponding to vertices of the initial set (value in [0,1]) |
fracDistVert |
fraction of random disturbance values corresponding to vertices of the disturbance set (value in [0,1]) |
distChanges |
number of changes of the disturbance values during one time step of the algorithm (integer > 0) |
Output Arguments
res |
results object storing the simulation data |
t |
cell-array storing the vectors with the time points for all simulated trajectories |
x |
cell-array storing the matrices with all simulated trajectories |
u |
cell-array storing the matrices with all applied control inputs |
See Also
optimizationBasedControl, simulate
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