# platoon

dynamic equations for the car benchmark model

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also
- References

## Syntax

f = platoon(x, u, w)

## Description

The benchmarks represents a platoon with 4 vehicles, where the states are the relative positions and velocities betwenn the vehicles, and the system inputs are the vehicle accelerations (see Sec. IV in [1]).

## Input Arguments

x | system states x (dimension: [nx,1])
u | control inputs u (dimension: [nu,1])
w | disturbances w (dimension: [nw,1])

## Output Arguments

f | value of the dynamic function = time derivative of x

## See Also

`cart`, `robotArm`

## References

- [1] Schuermann et al. (2017), Optimal Control of Sets of Solutions to Formally Guarantee Constraints of Disturbed Linear Systems

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