Forward Integration SDDRE vs SDRE

It compares the forward integration using SDDRE with the conventional SDRE controller on a nonlinear system.

The code is related to the simulation example in Section 4 of the following published paper:

Rafee Nekoo, S., & Ollero, A. (2025). Forward integration of SDDRE controller on flapping-wing flying robot: increasing sampling rate, towards computational efficiency. Journal of Control and Decision, 1–10. https://doi.org/10.1080/23307706.2025.2558083

DOI: https://doi.org/10.1080/23307706.2025.2558083

It compares the forward integration using the state-dependent differential equation (SDDRE) with the conventional state-dependent Riccati equation (SDRE). The SDDRE must start the integration from the final boundary condition (Backward). Here in this code, the performance of forward integration is tested.