simulate

simulates a system controlled with a LQR comfort controller

Contents

Syntax

[t,x,u] = simulate(obj,x0,w,Param,iter)

Description

Simulates the closed-loop system for one time step of the LQR (Linear Quadratic Regulator) controller which is used as a comfort controller during online application of the Safety Net Controller.

Input Arguments

obj

object of class comfContrLQR storing the control law computed in the offline-phase

x0

initial point for the reachable set computation

w

matrix storing the values for the disturbances over time (dimension: [nw,timeSteps])

Param

control parameters computed during reachability analyis

iter

current iteration (=time step) of the Safety Net Controller

Output Arguments

t

vector storing the time points for the simulated states

x

matrix storing the simulated trajectory (dimension: [t,nx])

u

matrix storing the applied control input (dimension: [t,nu])

See Also

safetyNetControl, reachSet, comfContrLQR


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