linearizeSystem

compute linearized discrete time systems

Syntax
Description
Input Arguments
Output Arguments
See Also

Syntax

[A,B,c,xf] = linearizeSystem(xCenter,uCenter,Opts)

Description

This function computes the linearized discrete time system for all time steps along the reference trajectory

Input Arguments

xCenter

reference trajectory states

uCenter

reference trajectory inputs

Opts

a struct containing the following fields

.Ninter

number of intermediate time steps

.nu

number of inputs

.nw

number of disturbances

.dt

time step size for one intermediate time step

.funHandle

function handle for the dynamic function

.linDyn.A

function handle to the system matrix of the linearize dynamics

.linDyn.B

function handle to the input matrix of the linearize dynamics

Output Arguments

A

cell-array storing the system matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c

B

cell-array storing the input matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c

c

cell-array storing the constant offset of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c

xf

cell-array storing the goal states for each time step

A	cell-array storing the system matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c
B	cell-array storing the input matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c
c	cell-array storing the constant offset of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c
xf	cell-array storing the goal states for each time step

linearizeSystem

Contents

Syntax

Description

Input Arguments

Output Arguments

See Also