Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription
25 Feb 2013
A toolbox for using Direct Transcription to perform combined plant and control design.
% An objective function formulated for state trajectories
% The trajectory is a matrix where each column represents a 'frame' of
% states, e.g., [chi(1),chi(2),chi(3)...] where
% each chi is an extended state vector, i.e., chi= [x; u] where
% x is state vector and u is the control vector.
fun % xout = fun(x)
QR % may be empty