# simulate

simulate a trajectory of a terminal region controller

## Contents

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

## Syntax

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

## Description

Simulate a trajectory of a linear closed-loop system controlled with the terminal region controller corresponding to a terminal region computed with the zonotope approach for linear systems.

## Input Arguments

obj | object of class termRegZonoLinSys storing the control law computed for the terminal region controller.
x0 | initial point for the simulation
tFinal | final time for the simulation
w | matrix storing the values for the disturbances over time (dimension: [nw,timeSteps])
v | matrix storing the values for the measurement errors over time (dimension: [nv, tFinal/dt-1])

## 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 applied control input (dimension: [`t`,nu])

## See Also

`computeTermRegZonoLinSys`, `simulateRandom`, `termRegZonoLinSys`

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