simulate

simulate a trajectory of a nonlinear system controlled with the Convex Interpolation Controller

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

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

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 error over time (dimension: [nx,time steps])

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])

References

[1] Schuermann et al. (2017), Optimal Control of Sets of Solutions to Formally Guarantee Constraints of Disturbed Linear Systems

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 error over time (dimension: [nx,time steps])

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])