plot_trajectory.m

function plot_trajectory(xHistory ,uHistory, name)
%%

global Ts Duration;

% Plot the closed-loop response.
figure('Name',name,'NumberTitle','off')
subplot(2,3,1)
plot(0:Ts:Duration,xHistory(1,:))
xlabel('time (seconds)')
ylabel('x (meters)')
title({"",'cart position',""})
subplot(2,3,2)
plot(0:Ts:Duration,xHistory(2,:))
xlabel('time (seconds)')
ylabel("x' (meters/seconds)")
title({"",'cart velocity',""})
subplot(2,3,3)
plot(0:Ts:Duration,xHistory(3,:))
xlabel('time (seconds)')
ylabel('\phi (radians)')
title({"",'pendulum angle',""})
subplot(2,3,4)
plot(0:Ts:Duration,xHistory(4,:))
xlabel('time (seconds)')
ylabel("\phi' (radians/seconds)")
title({"",'pendulum velocity',""})
subplot(2,3,5)
plot(0:Ts:Duration,uHistory)
xlabel('time (seconds)')
ylabel("u")
title({"",'input u',""})