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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-24 17:21:48 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-24 17:21:48 +0200 |
| commit | ace609eb706d907c4997a76849e7a260c3a12b6c (patch) | |
| tree | 518d8841f894ecf714d2e88c1941fddd681273b9 | |
| parent | Take deliverables for Robust MPC from yanzhen (diff) | |
| download | mpc_pe-ace609eb706d907c4997a76849e7a260c3a12b6c.tar.gz mpc_pe-ace609eb706d907c4997a76849e7a260c3a12b6c.zip | |
ADD: passed 1-24
Diffstat (limited to '')
| -rw-r--r-- | .gitignore | 1 | ||||
| -rw-r--r-- | MPC_TS_SC_params.mat | bin | 0 -> 223 bytes | |||
| -rw-r--r-- | templates/lqr_maxPI.m | 2 |
3 files changed, 2 insertions, 1 deletions
@@ -137,6 +137,7 @@ templates/linearController.p templates/TestFunction_simulate.p templates/TestFunction_LQR.p templates/TestFunction_generate_system.p +tbxmanager/ templates/TestFunction_generate_constraints.p templates/TestFunction_MPC_TUBE_script.p templates/TestFunction_generate_disturbances.p diff --git a/MPC_TS_SC_params.mat b/MPC_TS_SC_params.mat Binary files differnew file mode 100644 index 0000000..2ff2f68 --- /dev/null +++ b/MPC_TS_SC_params.mat diff --git a/templates/lqr_maxPI.m b/templates/lqr_maxPI.m index 251d766..99b5b22 100644 --- a/templates/lqr_maxPI.m +++ b/templates/lqr_maxPI.m @@ -33,7 +33,7 @@ function [H, h] = lqr_maxPI(Q, R, params) systemLQR.x.with('setConstraint'); systemLQR.x.setConstraint = Xp; InvSetLQR = systemLQR.invariantSet(); - InvSetLQR.plot(), alpha(0.25), title('Invariant Set for Triple Integrator under LQR Control'), xlabel('x_1'), ylabel('x_2'), zlabel('x_3'); +% InvSetLQR.plot(), alpha(0.25), title('Invariant Set for Triple Integrator under LQR Control'), xlabel('x_1'), ylabel('x_2'), zlabel('x_3'); H=InvSetLQR.A; h=InvSetLQR.b; |