dynamicsClosedLoopQuadratic
system dynamics for the closed-loop system controlled with the quadratic control law
Contents
Syntax
Description
This function implements the closed loop system dynamics for the case that the system is controlled by the quadratic control law. Thereby, the original system dynamics of the benchmark models are extended by auxiliary states that store the states at the beginning of the time step. The auxiliary states guarantee that the control inputs are kept constant during one time step. Further, the control inputs are computed with the quadratic control law and 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 system (dimension: [nx,1]) |
p |
parameter vector. Contains the parameter of the optimal control law (dimension: [nu*(2*nx+1),1]) |
nx |
number of system states |
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, dynamcisClosedLoopLinear
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
© 2018-2020 I6 Technische Universität München Website License
![]() |
![]() |
![]() |
![]() |