Path: SC/Dynamics
% The right hand side of equations formulated using Lagrange multipliers
[M, Q] = fDyn( x, t, dynData );
[phi, phiQ, phiTDot, phiDot, phiQDot] = fConstraint( x, t, constData )
2 2
The equations of motion are M d x/dt = Q
The constraints are phi = 0
If nIts > 0 it will use the iterative formulation.
Since version 2.
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Form:
xDot = FDC( x, t, fDyn, fConstraint, dynData, constData, penalty, nIts )
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Inputs
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x (:,1) The state vector [x;xDot]
t Time
fDyn (1,:) Name of the dynamics function
fConstraint (1,:) Name of the constraint function
dynData (:,:) Data to be passed to the dynamics function
constData (:,:) Data to be passed to the constraint function
penalty (1,3) Penalty function scalars [alpha, mu, omega]
nIts (1,1) Number of iterations
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Outputs
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xDot (:,1) The derivative of the state vector
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