# linearizeSystem

compute linearized discrete time systems

## Contents

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

## Syntax

[A,B,c,xf] = linearizeSystem(xCenter,uCenter,Opts)

## Description

This function computes the linearized discrete time system for all time steps along the reference trajectory

## Input Arguments

xCenter | reference trajectory states
uCenter | reference trajectory inputs
Opts | a struct containing the following fields
.Ninter | number of intermediate time steps
.nu | number of inputs
.nw | number of disturbances
.dt | time step size for one intermediate time step
.funHandle | function handle for the dynamic function
.linDyn.A | function handle to the system matrix of the linearize dynamics
.linDyn.B | function handle to the input matrix of the linearize dynamics

## Output Arguments

A | cell-array storing the system matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c
B | cell-array storing the input matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c
c | cell-array storing the constant offset of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c
xf | cell-array storing the goal states for each time step

## See Also

`generatorSpaceControl`

© 2018-2023 I6 Technische Universität München `•` Website `•` License