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_uncertain.m | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100644 Submission files/simulate_uncertain.m (limited to 'Submission files/simulate_uncertain.m') diff --git a/Submission files/simulate_uncertain.m b/Submission files/simulate_uncertain.m new file mode 100644 index 0000000..f74f7af --- /dev/null +++ b/Submission files/simulate_uncertain.m @@ -0,0 +1,24 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 -- cgit v1.2.1