# simulateSys

simulation of the real system behaviour

## Contents

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

## Syntax

[x,t,u] = simulateSys(sys,K,uc,xc,p,Opts)

## Description

This function simulates the behaviour of the real system. The value for the disturbances are chosen at random.

## Input Arguments

sys | object containing the dynamics of the closed-loop system (class: nonlinParamSys)
K | feedback matrix for the tracking controller (dimension: [nu,nx])
uc | reference control input (dimension: [nu,1])
xc | reference point of center trajectory (dimension: [nx,1])
p | initial point for the reachable set computation (dimension: [nx,1])
Opts | a structure containing following options
.nw | number of system disturbances
.W | set of uncertain disturbances (class: interval)

## Output Arguments

x | simulated trajectory
t | time points for the simulated trajectory
u | applied control inputs

## See Also

`reachsetMPC`

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