# closedLoopTrackingMeasErr

dynamic equtions for the controlled system (tracking controller)

## Contents

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

## Syntax

f = closedLoopTrackingMeasErr(x,w,p,dyn,nu)

## Description

This function contains the dynamic equations for the system controlled with the tracking controller u = u_ref + K (x_ - x_ref), where x_ is the measured state including a potential uncertain measurement error.

## 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

`reachsetMPC`

## References

- [1] Schuermann et al. (2018), Reachset Model Predictive Control for Disturbed Nonlinear Systems

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