# simulate

simulate a trajectory of a nonlinear system controlled with the Safety Net Controller

## Contents

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

## Syntax

[res,t,x,u,flag] = simulate(obj,x0,w)
[res,t,x,u,flag] = simulate(obj,x0,w,v)

## Description

Simulate a trajectory of a nonlinear closed-loop system controlled with the Safety Net Controler for a given initial point and given specific disturbance values over time.

## Input Arguments

obj | object of class objConvInterContr storing the control law computed in the offline-phase
x0 | initial point for the simulation
w | matrix storing the values for the disturbances over time (dimension: [nw,multiple of N*Ninter])
v | matrix storing the values for the measurement errors over time (dimension: [nx,multiple of N*Ninter])

## Output Arguments

res | results object storing the simulation data
t | vector storing the time points for the simulated states
x | matrix storing the simulated trajectory (dimension: [`t`,nx])
u | matrix storing the applied control input (dimension: [`t`,nu])
flag | vector storing a flag that specifies which controller was active (1: comfort controller, 0: safety net controller)

## See Also

`safetyNetControl`, `simulateRandom`

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