GET CLOSED LOOP

Gets the pwag function defining the closed loop system

Contents

Method of pwag object.

Description

Given a continuous time dynamical system in the form:

$$\dot{x} = A x + B u$$

and a pwag object defining a MPC controller in the form:

$u = F_i x + G_i$, if x belongs to region $R_i$

the closed loop system is given by:

$$\dot{x} = ( A + B F_i ) x + B G_i$$

The second member of this equation is a pwag function and it is returned as pwag object.

Syntax

fpwaCL = getClosedLoop(object,model)

model is a 'ss' object defining the closed loop system; fpwaCL is a pwag object defining the closed loop system

Acknowledgements

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