simulateRandom
simulate random trajectories of a nonlinear system controlled with a terminal region controller
Contents
Syntax
[res,t,x,u] = simulateRandom(obj,tFinal,Npoints,fracVert,fracDistVert,distChanges)
Description
Simulate a trajectories of a nonlinear closed-loop system controlled with a terminal region controller corresponding to a zonotopic terminal region computed with the approaches from [1]/[2].
Input Arguments
|
obj |
instance of class computeTermRegNonlinSysOpt |
|
tFinal |
final time for simulation |
|
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 |
See Also
computeTerminalRegionNonlinSys, computeTermRegNolinSysOptApproach @termRegNolinSysOptApproach/simulateRandom
References
[1] L. Schäfer et al., "Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems", 2024, IEEE Transactions on Automatic Control, vol. 69, no. 2, pp. 755-770. [2] L. Schäfer and M. Althoff, "Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis," American Control Conference, 2024, pp. 4162-4169.
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