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Example Transition Function: nonlinear_ok_box_g

Source Code 
 
function [gk, Gk] = nonlinear_ok_box_g(k, xk1)
	global nonlinear_ok_box_x1
	global nonlinear_ok_box_dt
	if k == 1 
		Gk = zeros(4, 4);
		gk = nonlinear_ok_box_x1;
		return;
	end 
	dt = nonlinear_ok_box_dt;
	Gk = [ ... 
		1  0  0  0 
		dt 1  0  0
		0  0  1  0
		0  0  dt 1 ...
	];
	gk = Gk * xk1;
	return
end
Input File: example/nonlinear_ok_box_g.m