simulate
simulate a trajectory of a nonlinear system controlled with the Safety Net Controller
Contents
Syntax
[res,t,x,u,flag] = simulate(obj,x0,w,v)
Description
Simulate a trajectory of a nonlinear closed-loop system controlled with the Safety Net Controler 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 |
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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,multiple of N*Ninter]) |
|
v |
matrix storing the values for the measurement errors over time (dimension: [nx,multiple of 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 applied control input (dimension: [t,nu]) |
|
flag |
vector storing a flag that specifies which controller was active (1: comfort controller, 0: safety net controller) |
See Also
safetyNetControl, simulateRandom
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