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| author | Nao Pross <np@0hm.ch> | 2023-05-24 16:22:02 +0200 |
|---|---|---|
| committer | Nao Pross <np@0hm.ch> | 2023-05-24 16:32:02 +0200 |
| commit | b6f865025eed2db716f2f853435855edb0db9e82 (patch) | |
| tree | 0211e0d07543dcea8e8e6048ae58a3458f5ab2d9 /templates/simulate.m | |
| parent | Take deliverables for system modelling from npross (diff) | |
| download | mpc_pe-b6f865025eed2db716f2f853435855edb0db9e82.tar.gz mpc_pe-b6f865025eed2db716f2f853435855edb0db9e82.zip | |
Take deliverables for uncontrained optimal control from npross
According to table 5 they are:
- LQR
- LQR/eval (contained in LQR.m)
- simulate
- traj_contraints
- lqr_tuning
- lqr_tuning_script (.m and its .mat output file)
Diffstat (limited to 'templates/simulate.m')
| -rw-r--r-- | templates/simulate.m | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/templates/simulate.m b/templates/simulate.m index 3138cd1..6be40c3 100644 --- a/templates/simulate.m +++ b/templates/simulate.m @@ -7,8 +7,17 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% function [Xt,Ut,ctrl_info] = simulate(x0, ctrl, params) + % YOUR CODE HERE + % Hint: you can access the control command with ctrl.eval(x(:,i)) -% 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); -end
\ No newline at end of file + 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 |