# closedLoopSystemLin

constructs a linear system for the closed-loop dynamics

## Contents

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

## Syntax

dx = closedLoopSystemLin(A,B,D,c,K,u_ref,V)

## Description

This function contructs a linear system object for the closed-loop dynamics for the optimization based controller from the system matrices of the uncontrolled system and the control law parameters.

## Input Arguments

A | system matrix of the open-loop system
B | input matrix of the open-loop system
D | disturbance matrix of the open-loop system
c | constant offset vector of the open-loop system
K | feedback matrix for the control law u = u_ref + K(x-x_ref)
u_ref | reference input for the control law u = u_ref + K(x-x_ref)
V | set of measurement errors

## Output Arguments

sys | linear system object for the closed-loop dynamics (class: linearSys)

## See Also

`optimizationBasedControl`

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