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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:42:56 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:42:56 +0200 |
| commit | c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778 (patch) | |
| tree | b5dcaf73bb9842ee72e457a3bac7ce6589b42122 /templates/generate_system.m | |
| parent | ADD: .gitignore (diff) | |
| download | mpc_pe-c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778.tar.gz mpc_pe-c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778.zip | |
FIX: .gitignore
Diffstat (limited to 'templates/generate_system.m')
| -rw-r--r-- | templates/generate_system.m | 19 |
1 files changed, 19 insertions, 0 deletions
diff --git a/templates/generate_system.m b/templates/generate_system.m new file mode 100644 index 0000000..c4dadc2 --- /dev/null +++ b/templates/generate_system.m @@ -0,0 +1,19 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 [A, B] = generate_system(Ac, Bc, params) + % YOUR CODE HERE + % Ts = 600; + sysc = ss(Ac, Bc, [], []); + Ts = params.model.TimeStep; + sysd = c2d(sysc,Ts); + % A = eye(params.model.nx) + Ac * Ts; + % B = Bc * Ts; + A = sysd.A; + B = sysd.B; +end
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