# extendedDynamics

dynamic equtions for the controlled system

## Contents

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

## Syntax

dx = extendedDynamics(x,w,p,nx,nu,forig,Ahan,Bhan)

## Description

This function implements the closed-loop dynamics for a system controlled with combined controller

## Input Arguments

x | extended system state (dimension: [4*nx,1])
w | disturbances (dimension: [nw,1])
p | parameter vector containing control law parameter (dimension: [2*nu*nx+nx+2*nu,1])
nu | number of system states (scalar)
nu | number of system inputs (scalar)
forig | function handle to the dynamic function of the original open-loop system
Ahan | function handle to the system matrix of the linearized system
Bhan | function handle to the input matrix of the linearized system

## Output Arguements

dx | value of the dynamic equtions (dimension: [4*nx,1])

## See Also

`combinedControl`

## References

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

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