SIM

Simulates the dynamical system

Contents

Method of linearSystem object.

Description

This method allows to simulate the dynamical system by iterating the map starting from an initial state $x_0$ with a PWA control function as input. The PWA control function can derive from an explicit MPC control law or by an approximated PWA controller. A vector of parameters is also passed to the system.

Syntax

[X U T] = sim(object,x0,p,N,PWAobject)

x0 is the initial condition, p is the array of parameters, N is the number of iterations of the map and PWAobject is one of the objects defining a PWA function available in the toolbox (pwag, pwas, pwar). The outputs X and U are matrices whose columns are the state and input variables, respectively, at each iteration of the map. T is a column vector containing the time instants (if sampling time is provided) or the the iteration number.

Acknowledgements

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