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| author | Nao Pross <np@0hm.ch> | 2023-05-03 15:43:58 +0200 |
|---|---|---|
| committer | Nao Pross <np@0hm.ch> | 2023-05-03 15:43:58 +0200 |
| commit | 71ffda22cb2a60c58a25bff18c158dc6491995ab (patch) | |
| tree | 89203b8a17f7318609a43c811fcca0fd09ab93de | |
| parent | ADD: Tasks 1-9 (diff) | |
| download | mpc_pe-71ffda22cb2a60c58a25bff18c158dc6491995ab.tar.gz mpc_pe-71ffda22cb2a60c58a25bff18c158dc6491995ab.zip | |
FIX: indentation in LQR.m
| -rw-r--r-- | templates/LQR.m | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/templates/LQR.m b/templates/LQR.m index 76d95c6..a213bd7 100644 --- a/templates/LQR.m +++ b/templates/LQR.m @@ -15,10 +15,10 @@ classdef LQR %constructor function obj = LQR(Q,R,params) % YOUR CODE HERE - E = np.zeros(params.model.nx); - S = np.zeros(params.model.nx); - Pinf = idare(params.model.A, params.model.B, Q, R, S, E, 'noscaling') - obj.K = -inv(R + B' * Pinf * B) * B' * Pinf * A; + E = np.zeros(params.model.nx); + S = np.zeros(params.model.nx); + Pinf = idare(params.model.A, params.model.B, Q, R, S, E, 'noscaling') + obj.K = -inv(R + B' * Pinf * B) * B' * Pinf * A; end function [u, ctrl_info] = eval(obj,x) |