extendedDynamics

dynamic equtions for the controlled system

Syntax
Description
Input Arguments
Output Arguements
See Also
References

Syntax

dx = extendedDynamics(x,w,p,nx,nu,forig,Ahan,Bhan)

Description

This function implements the closed-loop dynamics for a system controlled with combined controller

Input Arguments

x

extended system state (dimension: [4*nx,1])

w

disturbances (dimension: [nw,1])

p

parameter vector containing control law parameter (dimension: [2*nu*nx+nx+2*nu,1])

nu

number of system states (scalar)

nu

number of system inputs (scalar)

forig

function handle to the dynamic function of the original open-loop system

Ahan

function handle to the system matrix of the linearized system

Bhan

function handle to the input matrix of the linearized system

Output Arguements

dx

value of the dynamic equtions (dimension: [4*nx,1])

References

[1] Schuermann et al. (2018), Reachset Model Predictive Control for Disturbed Nonlinear Systems

x	extended system state (dimension: [4*nx,1])
w	disturbances (dimension: [nw,1])
p	parameter vector containing control law parameter (dimension: [2nunx+nx+2*nu,1])
nu	number of system states (scalar)
nu	number of system inputs (scalar)
forig	function handle to the dynamic function of the original open-loop system
Ahan	function handle to the system matrix of the linearized system
Bhan	function handle to the input matrix of the linearized system