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Diffstat (limited to 'Submission files/simulate.m')
-rw-r--r-- | Submission files/simulate.m | 23 |
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 |