simulate
simulate a trajectory of a nonlinear system controlled with the controller based on polynomial generator space control
Contents
Syntax
[res,t,x,u] = simulate(obj,x0,w,v)
Description
Simulate a trajectory of a nonlinear closed-loop system controlled with the controller based polynomial control in generator space for a given initial point and given specific disturbance values over time.
Input Arguments
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obj |
object of class objPolyContr storing the control law computed in the offline-phase |
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x0 |
initial point for the simulation |
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w |
matrix storing the values for the disturbances over time (dimension: [nw,N*Ninter]) |
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v |
matrix storing the values for the measurement errors over time (dimension: [nx, N*Ninter]) |
Output Arguments
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res |
results object storing the simulation data |
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t |
vector storing the time points for the simulated states |
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x |
matrix storing the simulated trajectory (dimension: [t,nx]) |
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u |
matrix storing the control inputs for the simulated trajectory (dimension: [t,nu]) |
See Also
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