1 files changed, 3 insertions, 6 deletions
diff --git a/templates/simulate.m b/templates/simulate.m
index 6100434..a5525f6 100644
--- a/templates/simulate.m
+++ b/templates/simulate.m
@@ -12,18 +12,15 @@ function [Xt,Ut,ctrl_info] = simulate(x0, ctrl, params)
 % Hint: you can access the control command with ctrl.eval(x(:,i))
     Xt = [x0];
     Ut = [];
-    x = x0
+    x = x0;
     ctrl_info = [];
-    % obj = LQR();
     for i = 1:params.model.HorizonLength
         [u, ctrl_info_] = ctrl.eval(x);
-        Ut = [Ut u];
+        Ut = [Ut,u];
         ctrl_info = [ctrl_info ctrl_info_];
         x = params.model.A*x + params.model.B*u;
-        Xt = [Xt x];
+        Xt = [Xt,x];
     end
     plot_trajectory(Xt, Ut, ctrl_info, params);
-% Ut = u;
-% Xt = x;
 
 end
 \ No newline at end of file