Simulations
Background
We provide a shorthand function for running simulations of Control Affine Systems equipped with feedback controllers:
sol = simulate(Σ, k, x0, T)where Σ is a ControlAffineSystem, k is a feedback controller of the form k(x,t) or k(x), x0 is the initial state, and T is the length of the simulation. This function simply calls a solver from DifferentialEquations.jl to simulate the closed-loop system and returns an ODE solution object.
Implementation
ControlBarrierFunctions.simulate — Methodsimulate(Σ::ControlAffineSystem, x0, T::Float64)Simulate a control affine system from initial condition x0 for T seconds.
ControlBarrierFunctions.simulate — Methodsimulate(Σ::ControlAffineSystem, k::Function, x0, T::Float64)Simulate a closed-loop control affine system from initial condition x0 for T seconds.