From 1f12e47e6d1fe8b365806aa0b42de237970d53bf Mon Sep 17 00:00:00 2001
From: Nao Pross <np@0hm.ch>
Date: Wed, 24 May 2023 16:50:06 +0200
Subject: Take deliverables for Robust MPC from yanzhen

According to table 12

  - generate_disturbances
  - simulate_uncertain
  - compute_tube_contorller
  - compute_minRPI
  - compute_tightening
  - MPC_TUBE
  - MPC_TUBE/eval (contained in MPC_TUBE.m)
  - MPC_TUBE_script (and its output MPC_TUBE_params.mat)
---
 templates/simulate_uncertain.m | 13 +++++++++++++
 1 file changed, 13 insertions(+)

(limited to 'templates/simulate_uncertain.m')

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
-- 
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