%% simulate
% simulate a trajectory of a nonlinear system controlled with
% the controller based on polynomial generator space control
%
%% Syntax
%
% <html>
%        <div class="syntax">
% [res,t,x,u] = simulate(obj,x0) <br>
% [res,t,x,u] = simulate(obj,x0,w) <br>
% [res,t,x,u] = simulate(obj,x0,w,v) <br>
%        </div>
% </html>
%
%% Description
% Simulate a trajectory of a nonlinear closed-loop system controlled
% with the controller based polynomial control in generator space for
% a given initial point and given specific disturbance values over
% time.
%
%% Input Arguments
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            obj
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            object of class objPolyContr storing the control law
%            computed in the offline-phase
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            x0
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            initial point for the simulation
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            w
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            matrix storing the values for the disturbances over time
%            (dimension: [nw,N*Ninter])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            v
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            matrix storing the values for the measurement errors over
%            time (dimension: [nx, N*Ninter])
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% Output Arguments
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            res
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            results object storing the simulation data
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            t
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            vector storing the time points for the simulated states
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            x
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            matrix storing the simulated trajectory
%            (dimension: [<tt>t</tt>,nx])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            u
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            matrix storing the control inputs for the simulated
%            trajectory (dimension: [<tt>t</tt>,nu])
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <objPolyContrhelp.html |objPolyContr|>, <simulateRandomhelp.html |simulateRandom|>
%

%%
% <html>
%   <hr>
%   <p class="copy">&copy; 2018-2026 I6 Technische Universit&auml;t M&uuml;nchen
%        <tt class="minicdot">&#149;</tt>
%        <a href="https://tumcps.github.io/AROC/">Website</a>
%        <tt class="minicdot">&#149;</tt>
%        <a href="file:txts/LICENSE.txt">License</a>
%   </p>
% <div>
% <table>
%  <tr>
%   <td style="background-color:#ffffff; border:0; width:25%; vertical-align:middle; text-align:center">
%             <img src="img/logoAroc.png" alt="logoAroc" height="40px">
%      </td>
%   <td style="background-color:#ffffff; border:0; width:25%; vertical-align:middle; text-align:center">
%      <img src="img/logoCora.png" alt="logoCora" height="40px"></td>
%   <td style="background-color:#ffffff; border:0; width:25%; vertical-align:middle; text-align:center">
%      <img src="img/logoChair.png" alt="logoChair" height="40px"></td>
%   <td style="background-color:#ffffff; border:0; width:25%; vertical-align:middle; text-align:center">
%      <img src="img/logoTum.png" alt="logoTum" height="40px"></td>
%  </tr>
% </table>
% </div>
% </html>
