simulateRandom
simulate random trajectories of a linear 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 linear closed-loop system controlled with a terminal region controller corresponding to a terminal region computed with the zonotope approach for linear systems for random initial points inside the terminal region and randomly drawn disturbance values.
Input Arguments
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obj |
object of class termRegSubpaving storing the control law computed for the terminal region controller. |
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tFinal |
final time for the simulation |
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Npoints |
number of initial points for which trajectories are simulated |
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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
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res |
results object storing the simulation data |
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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
computeTermRegZonoLinSys, termRegZonoLinSys, simulate
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