# simulateRandom

simulate random trajectories 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] = simulateRandom(obj,res,Npoints,fracVert,fracDistVert,distChanges)

## Description

Simulate a trajectories of a nonlinear closed-loop system controlled with the Safety Net Controller for multiple random initial points and randomly drawn disturbance values.

## Input Arguments

obj | object of class objConvInterContr storing the control law computed in the offline-phase
Npoints | number of initial points for which trajectories are simulated
fracVert | fraction of random initial points corresponding to vertices of the initial set (value in [0,1])
fracDistVert | fraction of random disturbance values corresponding to vertices of the disturbance set (value in [0,1])
distChanges | number of changes of the disturbance values during one time step of the algorithm (integer > 0)

## Output Arguments

res | results object storing the simulation data
t | cell-array storing the vectors with the time points for all simulated trajectories
x | cell-array storing the matrices with all simulated trajectories
u | cell-array storing the applied control inputs for all simulated trajectories
flag | cell-array storing a flag that specifies which controller was active for all simulated trajectories (1: comfort controller, 0: safety net controller)

## See Also

`safetyNetControl`, `simulate`

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