QPFit/simsys.m
3bfb25b5e70amaster

simsys.m
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			function [Y, X, U] = simsys(sys, x0, ctrl, maxN, ref)

			n = length(x0);

			if nargin > 4
			u = ctrl([x0;ref(1)]);
			else
			u = ctrl(x0);
			end
			m = length(u);

			X = zeros(n, maxN);
			U = zeros(m, maxN);
			Y = zeros(size(sys.C,1), maxN);

			X(:,1) = x0;

			for i = 1:maxN-1
			Y(:,i) = sys.C * X(:,i);
			if nargin > 4
			U(:,i) = ctrl([X(:,i);ref(i)]);
			else
			U(:,i) = ctrl(X(:,i));
			end

			X(:,i+1) = sys.A * X(:,i) + sys.B * U(:,i);
			end