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| author | YanzhenXiang <54230111+YanzhenXiangRobotics@users.noreply.github.com> | 2023-11-06 16:49:26 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-11-06 16:49:26 +0100 |
| commit | d6b96c55ebb89ebd6e2d990ec89122799c68a230 (patch) | |
| tree | 7a837438da9e07a5e77658c6d882577fff8bcae1 /Submission files/compute_tube_controller.m | |
| parent | Update 23 (diff) | |
| parent | update the new submission zip generated from npross branch (diff) | |
| download | mpc_pe-d6b96c55ebb89ebd6e2d990ec89122799c68a230.tar.gz mpc_pe-d6b96c55ebb89ebd6e2d990ec89122799c68a230.zip | |
Submission
Diffstat (limited to 'Submission files/compute_tube_controller.m')
| -rw-r--r-- | Submission files/compute_tube_controller.m | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/Submission files/compute_tube_controller.m b/Submission files/compute_tube_controller.m new file mode 100644 index 0000000..2c567f0 --- /dev/null +++ b/Submission files/compute_tube_controller.m @@ -0,0 +1,16 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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. +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +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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