simulate
simulate a trajectory of a nonlinear system controlled with the Convex Interpolation Controller
Contents
Syntax
[res,t,x,u] = simulate(obj,x0,w,v)
Description
Simulate a trajectory of a nonlinear closed-loop system controlled with the Convex Interpolation Controller for a given initial point and given specific disturbance values over time.
Input Arguments
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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,time steps]) |
|
v |
matrix storing the values for the measurement errors over time (dimension: [nx, N]) |
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]) |
See Also
convexInterpolationControl, simulateRandom
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