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| author | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-11 12:00:59 +0200 |
|---|---|---|
| committer | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-11 12:00:59 +0200 |
| commit | feb6ec844cf2d0cdb07acd609615675141e2706a (patch) | |
| tree | 1a411c04d693358a6ffc2d2a07e09bb819a8f6cc /templates/LQR.m | |
| parent | Revert mistakenly pushed to master (diff) | |
| download | mpc_pe-feb6ec844cf2d0cdb07acd609615675141e2706a.tar.gz mpc_pe-feb6ec844cf2d0cdb07acd609615675141e2706a.zip | |
update previous filesyuanxu
Diffstat (limited to '')
| -rw-r--r-- | templates/LQR.m | 12 |
1 files changed, 3 insertions, 9 deletions
diff --git a/templates/LQR.m b/templates/LQR.m index c05237d..d23e64a 100644 --- a/templates/LQR.m +++ b/templates/LQR.m @@ -14,20 +14,14 @@ classdef LQR methods %constructor function obj = LQR(Q,R,params) - % YOUR CODE HERE - % obj.K = ... (save feedback matrix for use in eval function) A = params.model.A; B = params.model.B; - % [X, L, G] = dare(A,B,Q,R); - [K,S,e] = dlqr(A,B,Q,R) - % obj.K = -inv(B'*P_inf*B+R)*B'*P_inf*A; - obj.K = -K; + [K,~,~] = dlqr(A,B,Q,R); + obj.K = K; end function [u, ctrl_info] = eval(obj,x) - % YOUR CODE HERE - % u = ... - u = obj.K*x; + u = -obj.K * x; ctrl_info = struct('ctrl_feas',true); end end |