From a23ba49056a36aff221d0c23e228b981222c3576 Mon Sep 17 00:00:00 2001 From: Yuan Xu Date: Wed, 24 May 2023 17:35:46 +0200 Subject: add submission zip --- Submission files/simulate.m | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) create mode 100644 Submission files/simulate.m (limited to 'Submission files/simulate.m') 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 -- cgit v1.2.1