diff --git a/benchmarks/Benchmark10-Unicycle/dynamics10.m b/benchmarks/Benchmark10-Unicycle/dynamics10.m index b014c06..b71b346 100644 --- a/benchmarks/Benchmark10-Unicycle/dynamics10.m +++ b/benchmarks/Benchmark10-Unicycle/dynamics10.m @@ -1,20 +1,24 @@ -function [dx] = dynamics10(t,x,u,w) -% Ex_car_model - %vehicleODE Bicycle model of a vehicle with - % states - % x(1), x(2): x,y positions - % x(3): Yaw angle (\psi) - % x(4): velocity - % control inputs - % u(1): acceleration m/s^2 - % u(2): steering angle of front wheel - % disturbance input - % w: disturbance with a range (-10^-4,10^4) - % Initial state range [9.5, 9.55] × [-4.5, -4.45] × [2.1, 2.11] × [1.5, 1.51] - -dx(1,1) = x(4) * cos(x(3)); -dx(2,1) = x(4) * sin(x(3)); -dx(3,1) = u(2); -dx(4,1) = u(1) + w; - +function [dx] = dynamics10(t,x,u,w) +% Ex_car_model + %vehicleODE Bicycle model of a vehicle with + % states + % x(1), x(2): x,y positions + % x(3): Yaw angle (\psi) + % x(4): velocity + % control inputs + % u(1): acceleration m/s^2 + % u(2): steering angle of front wheel + % disturbance input + % w: disturbance with a range (-10^-4,10^4) + % Initial state range [9.5, 9.55] × [-4.5, -4.45] × [2.1, 2.11] × [1.5, 1.51] +% +% The output of the neural network f(x) needs to be normalized +% in order to obtain u(1) and u(2). +% Namely, u(i) = f(x)(i) - 20 +% +dx(1,1) = x(4) * cos(x(3)); +dx(2,1) = x(4) * sin(x(3)); +dx(3,1) = u(2); +dx(4,1) = u(1) + w; + end \ No newline at end of file diff --git a/benchmarks/Benchmark9-Tora/Specifications.txt b/benchmarks/Benchmark9-Tora/Specifications.txt index d862bc7..c69f00f 100644 --- a/benchmarks/Benchmark9-Tora/Specifications.txt +++ b/benchmarks/Benchmark9-Tora/Specifications.txt @@ -10,6 +10,6 @@ control period = 1s Property: -The system, states 1 to 3, always stays within the box x ∈ [-1,1] +The system states always stays within the box x ∈ [-2,2] diff --git a/benchmarks/Benchmark9-Tora/dynamics9.m b/benchmarks/Benchmark9-Tora/dynamics9.m index 7924785..5ed69f4 100644 --- a/benchmarks/Benchmark9-Tora/dynamics9.m +++ b/benchmarks/Benchmark9-Tora/dynamics9.m @@ -1,11 +1,15 @@ -function [dx] = dynamics9(t,x,u) -% Ex_tora -% Initial state range: +function [dx] = dynamics9(t,x,u) +% Ex_tora +% Initial state range: % [0.6, 0.7] × [-0.7, -0.6] × [-0.4, -0.3] × [0.5, 0.6] - -dx(1,1) = x(2); -dx(2,1) = - x(1) + 0.1*sin(x(3)); -dx(3,1) = x(4); -dx(4,1) = u; - +% +% The output of the neural network f(x) needs to be normalized +% in order to obtain u. +% Namely, u = f(x) - 10 +% +dx(1,1) = x(2); +dx(2,1) = - x(1) + 0.1*sin(x(3)); +dx(3,1) = x(4); +dx(4,1) = u; + end \ No newline at end of file