add submission zipsubmission

1 files changed, 23 insertions, 0 deletions

diff --git a/Submission files/simulate.m b/Submission files/simulate.m
new file mode 100644
index 0000000..6be40c3
--- /dev/null
+++ b/Submission files/simulate.m
@@ -0,0 +1,23 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [Xt,Ut,ctrl_info] = simulate(x0, ctrl, params)
+    % YOUR CODE HERE
+    % Hint: you can access the control command with ctrl.eval(x(:,i))
+
+    Xt = zeros(params.model.nx, params.model.HorizonLength+1);
+    Ut = zeros(params.model.nu, params.model.HorizonLength);
+    ctrl_info = repmat(struct('ctrl_feas',true), 1, params.model.HorizonLength);
+
+    Xt(:,1) = x0;
+    for k=1:params.model.HorizonLength
+        [u, ~] = ctrl.eval(Xt(:,k));
+        Ut(:,k) = u;
+        Xt(:,k+1) = params.model.A * Xt(:,k) + params.model.B * Ut(:,k);
+    end
+end