simulate
simulate a trajectory of a terminal region controller
Contents
Syntax
[res,t,x,u] = simulate(obj,x0,tFinal,w,v)
Description
Simulate a trajectory of a linear closed-loop system controlled with the terminal region controller corresponding to a terminal region computed with the zonotope approach for linear systems.
Input Arguments
|
obj |
object of class termRegZonoLinSys storing the control law computed for the terminal region controller. |
|
x0 |
initial point for the simulation |
|
tFinal |
final time for the simulation |
|
w |
matrix storing the values for the disturbances over time (dimension: [nw,timeSteps]) |
|
v |
matrix storing the values for the measurement errors over time (dimension: [nv, tFinal/dt-1]) |
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]) |
See Also
computeTermRegZonoLinSys, simulateRandom, termRegZonoLinSys
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