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-rw-r--r--templates/simulate_uncertain.m13
1 files changed, 13 insertions, 0 deletions
diff --git a/templates/simulate_uncertain.m b/templates/simulate_uncertain.m
index dc9df26..f74f7af 100644
--- a/templates/simulate_uncertain.m
+++ b/templates/simulate_uncertain.m
@@ -8,4 +8,17 @@
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