# closedLoopSystemNonlin

dynamic function for the closed-loop dynamics

## Contents

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

## Syntax

dx = closedLoopSystemNonlin(x,w,p,f,nx,nu,nw)

## Description

The function implements the dynamics for the closed-loop system for the optimization based controller for a nonlinear system.

## Input Arguments

x | state vector
w | disturbance vector
p | parameter vector
f | function handle for the open-loop dynamics
nx | number of states
nu | number of inputs
nw | number of disturbances

## Output Arguments

dx | time derivative for the closed-loop dynamics

## See Also

`optimizationBasedControl`

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