# cart_linear

dynamic equations for the linear cart benchmark model

## Contents

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

## Syntax

f = cart_linear(x, u, w)

## Description

Dynamics equation for the cart benchmark model. The benchmark represents a cart that is coupled to the environment by a spring and a damper. The system states are the position and the velocity of the cart. The input to the system is an external force acting on the cart.

## Input Arguments

x | system states x (dimension: [nx,1])
u | control inputs u (dimension: [nu,1])
w | disturbances w (dimension: [nw,1])

## Output Arguments

f | value of the dynamic function = time derivative of x

## See Also

`cart`

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