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| author | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-24 17:35:46 +0200 |
|---|---|---|
| committer | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-24 17:35:46 +0200 |
| commit | a23ba49056a36aff221d0c23e228b981222c3576 (patch) | |
| tree | 742c18cbe13c1603909b55ee82188ce6360e8fa0 /Submission files/generate_system_cont.m | |
| parent | ADD: declaration of originality (diff) | |
| download | mpc_pe-a23ba49056a36aff221d0c23e228b981222c3576.tar.gz mpc_pe-a23ba49056a36aff221d0c23e228b981222c3576.zip | |
add submission zipsubmission
Diffstat (limited to '')
| -rw-r--r-- | Submission files/generate_system_cont.m | 22 |
1 files changed, 22 insertions, 0 deletions
diff --git a/Submission files/generate_system_cont.m b/Submission files/generate_system_cont.m new file mode 100644 index 0000000..048ee7b --- /dev/null +++ b/Submission files/generate_system_cont.m @@ -0,0 +1,22 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 [Ac, Bc] = generate_system_cont(params) + % YOUR CODE HERE + omega_n_sq = params.model.GravitationalParameter / params.model.TargetRadius^3; + omega_n = sqrt(omega_n_sq); + + Ac = [ + zeros(3), eye(3); + 3*omega_n_sq, 0, 0, 0, 2*omega_n, 0; + 0, 0, 0, -2*omega_n, 0, 0; + 0, 0, -omega_n_sq, 0, 0, 0; + ]; + + Bc = [zeros(3); eye(3);] / params.model.Mass; +end |