# isLinearModel

check if a model is linear or nonlinear

## Contents

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

## Syntax

[res,A,B,D,c] = isLinearModel(model,nx,nu,nw)

## Description

Checks if a model is linear of nonlinear. If the model is linear, the function returns the system matrices of the linear system equation

## Input Arguments

model | function handle to the dynamic function of the model
nx | number of system states
nu | number of inputs
nw | number of disturbances

## Output Arguments

res | 1 if the model is linear, 0 if not
A | system matrix of the linear model (dimension: [nx,nx])
B | input matrix of the linear model (dimension: [nx,nu])
D | disturbance matrix of the linear model (dimension: [nu,nw])
c | constand offset of the linear model (dimension: [nx,1])

## See Also

`platoon`, `car`

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