# massSpringDamper

differential equations modeling the dynamics of a nonlinear mass-spring-damper system

## Contents

- Syntax
- Input Arguments
- Output Arguments
- See Also
- References

## Syntax

f = massSpringDamper(x,u,w)

## 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

-

## References

[1] M. E. Villanueva et al. "Computing Ellipsoidal Robust Forward Invariant Tubes for Nonlinear MPC", 2017, IFAC-PapersOnline, vol. 50, iss. 1, pp. 7175-7180

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