closedLoopTracking
dynamic equtions for the controlled system (tracking controller)
Contents
Syntax
Description
This function contains the dynamic equations for the system controlled with the tracking controller u = u_ref + K (x - x_ref)
Input Arguments
x |
extended system state [x;x_ref] (dimension: [2*nx,1]) |
w |
disturbances (dimension: [nw,1]) |
p |
parameter vector containing the reference control input and the entries of the feedback matrix (dimension: [nu*(nx+1),1]) |
dyn |
function handle specifying the open-loop dynamics |
nu |
number of system inputs (scalar) |
Output Arguements
f |
value of the dynamic equtions (dimension: [2*nx,1]) |
See Also
References
- [1] Schuermann et al. (2018), Reachset Model Predictive Control for Disturbed Nonlinear Systems
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