add submission zipsubmission

1 files changed, 31 insertions, 0 deletions

diff --git a/Submission files/LQR.m b/Submission files/LQR.m
new file mode 100644
index 0000000..873546a
--- /dev/null
+++ b/Submission files/LQR.m
@@ -0,0 +1,31 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef LQR
+    properties
+        K
+    end
+    
+    methods
+        %constructor
+        function obj = LQR(Q,R,params)
+            % YOUR CODE HERE
+            E = zeros(params.model.nx);
+            S = zeros(params.model.nx, params.model.nu);
+            Pinf = idare(params.model.A, params.model.B, Q, R);
+            obj.K = -inv(R + params.model.B' * Pinf * params.model.B) ...
+                * params.model.B' * Pinf * params.model.A;
+        end
+        
+        function [u, ctrl_info] = eval(obj,x)
+            % YOUR CODE HERE
+            u = obj.K * x;
+            ctrl_info = struct('ctrl_feas',true);
+        end
+    end
+end