# doubleIntegrator

dynamic equations for the double-integrator benchmark model

## Contents

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

## Syntax

f = doubleIntegrator(x, u, w)

## Description

Dynamic equation for the double-integrator benchmark model. The benchmark represents a rigid body that glides on a plane without friction. The system states are the position and the velocity of the rigid body. The input to the system is an external force that acts on the rigid body.

## Input Arguments

x | system states x (dimension: [nx,1])
u | control inputs u (dimension: [nu,1])
w | disturbances w (dimension: [nw,1])

## Output Arguments

f | value of the dynamic function = time derivative of x

## See Also

`car`, `cart`, `robotArm`

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