# simulate

simulate a trajectory of a nonlinear system controlled with the controller based on polynomial generator space control

## Contents

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

## Syntax

[res,t,x,u] = simulate(obj,x0,w)
[res,t,x,u] = simulate(obj,x0,w,v)

## Description

Simulate a trajectory of a nonlinear closed-loop system controlled with the controller based polynomial control in generator space for a given initial point and given specific disturbance values over time.

## Input Arguments

obj | object of class objPolyContr storing the control law computed in the offline-phase
x0 | initial point for the simulation
w | matrix storing the values for the disturbances over time (dimension: [nw,N*Ninter])
v | matrix storing the values for the measurement errors over time (dimension: [nx, N*Ninter])

## Output Arguments

res | results object storing the simulation data
t | vector storing the time points for the simulated states
x | matrix storing the simulated trajectory (dimension: [`t`,nx])
u | matrix storing the control inputs for the simulated trajectory (dimension: [`t`,nu])

## See Also

`objPolyContr`, `simulateRandom`

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