%% doubleIntegrator
% dynamic equations for the double-integrator benchmark
% model
%
%% Syntax
%
% <html>
%        <div class="syntax">
% f = doubleIntegrator(x, u, w) <br>
%        </div>
% </html>
%
%% Description
% Dynamics equation for the double-integrator benchmark model. The
% benchmark represents a rigid body that glides on a plane without
% friction. The system states are the position and the velocity of
% the rigid body. The input to the system is an external force that
% acts on the rigid body.
%
% <<img/doubleIntegrator.png>>
%
%% Input Arguments
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            x
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            system states x (dimension: [nx,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            u
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            control inputs u (dimension: [nu,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            w
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            disturbances w (dimension: [nw,1])
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% Output Arguments
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            f
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            value of the dynamic function = time derivative of x
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <matlab:doc('-') ->
%

%%
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