1 files changed, 14 insertions, 0 deletions
diff --git a/templates/simulate.m b/templates/simulate.m
index 3138cd1..20c77b2 100644
--- a/templates/simulate.m
+++ b/templates/simulate.m
@@ -10,5 +10,19 @@ 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 = [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;
+        Xt = [Xt x];
+    end
+% Ut = u;
+% Xt = x;
 
 end
 \ No newline at end of file