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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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
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