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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 16:42:53 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 16:42:53 +0200 |
| commit | bbf8c17a58001bfe15948e3b2a31ca2a1a95f928 (patch) | |
| tree | 3b66cfa5a8e229b94775c8dd97587569dde61793 /templates/LQR.m | |
| parent | first commit (diff) | |
| download | mpc_pe-bbf8c17a58001bfe15948e3b2a31ca2a1a95f928.tar.gz mpc_pe-bbf8c17a58001bfe15948e3b2a31ca2a1a95f928.zip | |
ADD: init proj
Diffstat (limited to '')
| -rw-r--r-- | templates/LQR.m | 27 |
1 files changed, 27 insertions, 0 deletions
diff --git a/templates/LQR.m b/templates/LQR.m new file mode 100644 index 0000000..2a79da9 --- /dev/null +++ b/templates/LQR.m @@ -0,0 +1,27 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 + % obj.K = ... (save feedback matrix for use in eval function) + end + + function [u, ctrl_info] = eval(obj,x) + % YOUR CODE HERE + % u = ... + ctrl_info = struct('ctrl_feas',true); + end + end +end
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