
function  SimulinkModel (mdl, num_u) 
 Construct a simulink model DynamicalSystem. More...


function  getNumContStates (obj) 

function  getNumDiscStates (obj) 

function  getNumInputs (obj) 

function  getNumOutputs (obj) 

function  getSampleTime (obj) 

function  getModel (obj) 

function  getInitialState (obj) 

function  dynamics (obj, t, x, u, yes_i_promise_that_i_called_output_first) 

function  update (obj, t, x, u, yes_i_promise_that_i_called_output_first) 

function  output (obj, t, x, u) 

virtual function  dynamics (obj, t, x, u) 
 Implements the differential equation governing the dynamics of the continuous state variables. More...


virtual function  update (obj, t, x, u) 
 Implements the difference equation governing the dynamics of the discrete state variables. More...


function  DynamicalSystem () 

function  inInputFrame (sys, frame) 
 Ensures that sys has the specified input frame, by searching for and cascading a coordinate transformation to the existing input if necessary. More...


function  inStateFrame (sys, frame) 
 Ensures that sys has the specified state frame. More...


function  inOutputFrame (sys, frame) 
 Ensures that sys has the specified output frame, by searching for and cascading a coordinate transformation to the existing output if necessary. More...


function  cascade (sys1, sys2) 
 Creates a new system with the output of system 1 connected to the input of system 2. More...


function  feedback (sys1, sys2) 
 Creates a new systems with sys1 and sys2 in a feedback interconnect (with sys1 on the forward path, and sys2 on the return path). More...


function  parallel (sys1, sys2) 
 Creates a new system that takes the inputs to both sys1 and sys2 as a single input (which is "demux"ed and passed independently to the two systems), and outputs the "mux"ed output of the two systems. More...


function  sampledData (sys, tsin, tsout) 
 Creates a new system which is a sampled data (e.g. More...


function  resolveConstraints (obj, x0, v, constraints) 
 attempts to find a x which satisfies the constraints, using x0 as the initial guess. More...


function  addStateConstraintsToProgram (obj, prog, indices) 
 adds state constraints and unilateral constriants to the program on the specified indices. More...


function  getNumStates (obj) 
 Returns the total number of states (discrete + continuous) in the system. More...


function  getInputSampleTimes (obj) 
 Returns the sample time of the input See getSampleTime for more details about sample times. More...


function  getOutputSampleTimes (obj) 
 Returns the sample time of the output See getSampleTime for more details about sample times. More...


function  isDT (obj) 
 Returns true if the system has no states, or has states and only one sample time [a b], with a>0. More...


function  isCT (obj) 
 Returns true if the system has only one sample time [a b], with a==0. More...


function  isInheritedTime (obj) 
 Returns true if the system has only one sample time [a b], with b==1. More...


function  isTI (obj) 
 Returns true if the system is timeinvariant. More...


function  setTIFlag (obj, bval) 
 Sets the time invariant flag. More...


function  getInputFrame (obj) 
 Access the CoordinateFrame object that defines the input to this system. More...


function  setInputFrame (obj, fr) 
 Set the CoordinateFrame object that defines the input of this system. More...


function  getStateFrame (obj) 
 Access the CoordinateFrame object that defines the state of this system. More...


function  setStateFrame (obj, fr) 
 Set the CoordinateFrame object that defines the state of this system. More...


function  getOutputFrame (obj) 
 Access the CoordinateFrame object that defines the output to this system. More...


function  setOutputFrame (obj, fr) 
 Set the CoordinateFrame object that defines the output of this system. More...


function  getNumStateConstraints (obj) 
 Returns the scalar number of state constraints (of the form phi(x)=0) More...


function  stateConstraints (obj, x) 
 defines state equality constraints in the form phi(x)=0 More...


function  unilateralConstraints (obj, x) 
 defines state unilateral constraints in the form phi(x)>=0 More...


function  getNumUnilateralConstraints (obj) 
 Returns the scalar number of state constraints (of the form phi(x)>=0) More...


function  setSimulinkParam (obj, varargin) 
 Sets parameters of the simulink model Syntax setSimulinkParam(obj,param_name,param_value[,param_name,param_value,]) % Se. More...


function  linearize (obj, t0, x0, u0) 
 Linearize the system about an operating point (continuous time) More...


function  dlinearize (obj, ts, t0, x0, u0) 
 Linearize the system about an operating point (discrete time) More...


function  setParams (obj, p) 
 This default setParams method attempts to set class properties of the system according to the coordinate names in the parameter frame. More...


function  getParams (obj) 
 This default getParams method attempts to get class properties of the system according to the coordinate names in the parameter frame. More...


function  getNumParams (obj) 

function  setParamFrame (obj, fr) 
 Set the CoordinateFrame object which describes any system parameters. More...


function  getParamFrame (obj) 
 Returns the CoordinateFrame object which describes any system parameters. More...


function  setParamLimits (obj, pmin, pmax) 
 Set lower and upper bounds on the system parameters. More...


function  getParamLimits (obj) 
 Returns the current lower and upper bounds on the system parameters. More...


function  parameterEstimation (obj, data, options) 
 Estimate parameter values from inputoutput data. More...


function  runLCM (obj, x0, options) 
 Runs the system as an lcm node. More...


function  simulate (obj, tspan, x0, options) 
 Simulates the dynamical system (using the simulink solvers) More...


function  tiHinf (obj, x0, u0, Q, R, Bw, gamma) 
 Suboptimal statefeedback Hinfinity controller for LTI system with bound gamma. More...


function  tilqr (obj, x0, u0, Q, R, options) 
 Computes an LQR controller to stabilize the system around (x0,u0) More...


function  tilyap (obj, x0, Q) 
 Linearizes the system about the state x0 and returns a candidate LyapunovFunction generated by solving the quadratic Lyapunov equation. More...


function  tvlyap (obj, xtraj, Q, Qf) 
 Linearizes the system about the state trajectory xtraj and returns a candidate LyapunovFunction generated by integrating backwards the quadratic differential Lyapunov equation. More...


Property  warning_manager 

function  stateIndicesForCombination (sys1, sys2) 
 Helper method to figure out the indices of the discrete and continuous states after sys1 and sys2 have been combined into a single system. More...


function  stateVectorToStructure (obj, xv, mdl) 
 Converts the vector state xv to the structure xs for simulink state. More...


function  stateStructureToVector (obj, xs) 
 Converts the simulink state structure representation back to the vector state. More...

