1 files changed, 24 insertions, 0 deletions
diff --git a/Submission files/simulate_uncertain.m b/Submission files/simulate_uncertain.m
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+++ b/Submission files/simulate_uncertain.m
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+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% 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_uncertain(x0, ctrl, Wt, params)
+	% YOUR CODE HERE
+	Xt = [x0];
+    Ut = [];
+    x = x0
+    ctrl_info = [];
+    % obj = LQR();
+    for i = 1:params.model.HorizonLength
+        [u, ctrl_info_] = ctrl.eval(x);
+        Ut = [Ut u];
+        ctrl_info = [ctrl_info ctrl_info_];
+        x = params.model.A*x + params.model.B*u + Wt(:,i);
+        Xt = [Xt x];
+    end
+    % plot_trajectory(Xt, Ut, ctrl_info, params);
+end
+\ No newline at end of file