GET CLOSED LOOP

Gets the pwas function defining the closed loop system

Method of pwas object.

Description

Given a continuous time dynamical system in the form:

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

and a pwas object defining a MPC approximate controller in the form:

$u = \alpha(x) w$

The term A x can also be expressed as a pwas function in the form:

$A x = \alpha(x) A v$

Thus the closed loop system can be written as:

$\dot{x} = \alpha(x) (A v + B w)$

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

fpwaCL = getClosedLoop(object,model)

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

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