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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-11 08:16:15 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-11 08:16:15 +0200 |
| commit | a2b24027a2df441f8bef401bd1cd956485c896e9 (patch) | |
| tree | 911c4953277cd67de0ca5cd35e8c488eae832128 | |
| parent | ADD: pass 26 (diff) | |
| download | mpc_pe-a2b24027a2df441f8bef401bd1cd956485c896e9.tar.gz mpc_pe-a2b24027a2df441f8bef401bd1cd956485c896e9.zip | |
ADD: pass 27
| -rw-r--r-- | templates/compute_tube_controller.m | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/templates/compute_tube_controller.m b/templates/compute_tube_controller.m index adca95d..2c567f0 100644 --- a/templates/compute_tube_controller.m +++ b/templates/compute_tube_controller.m @@ -8,4 +8,9 @@ function K_tube = compute_tube_controller(p,params) % YOUR CODE HERE + Az = params.model.A; + Bz =params.model.B; + % Bz = [params.model.B,eye(params.model.nx)]; + K_tube = -place(Az,Bz,p); + % K_tube = K(1:params.model.nu,:); end
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