SIM

Simulates the dynamical system.

Contents

Method of pwaSystem 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.

Syntax

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

x0 is the initial condition, 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.

Acknowledgements

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