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author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-10 23:30:01 +0200 |
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committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-10 23:30:01 +0200 |
commit | 3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e (patch) | |
tree | 070832993dd8b63ee2aa70ee6f611d4d139f1d65 /templates/LQR.m | |
parent | Revert mistakenly pushed to master (diff) | |
download | mpc_pe-3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e.tar.gz mpc_pe-3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e.zip |
Revert to handout
Diffstat (limited to 'templates/LQR.m')
-rw-r--r-- | templates/LQR.m | 7 |
1 files changed, 0 insertions, 7 deletions
diff --git a/templates/LQR.m b/templates/LQR.m index c05237d..2a79da9 100644 --- a/templates/LQR.m +++ b/templates/LQR.m @@ -16,18 +16,11 @@ classdef LQR 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; end function [u, ctrl_info] = eval(obj,x) % YOUR CODE HERE % u = ... - u = obj.K*x; ctrl_info = struct('ctrl_feas',true); end end |