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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:28:44 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:28:44 +0200 |
| commit | 55a42b2be769bbfbd5b697338c6729f06a3d17cc (patch) | |
| tree | fa380bdc758ac73fc63d4e938dd97fff0ce314fb /templates/generate_system_cont.m | |
| parent | ADD: init proj (diff) | |
| download | mpc_pe-55a42b2be769bbfbd5b697338c6729f06a3d17cc.tar.gz mpc_pe-55a42b2be769bbfbd5b697338c6729f06a3d17cc.zip | |
ADD: pass system modeling test
Diffstat (limited to '')
| -rw-r--r-- | templates/generate_system_cont.m | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/templates/generate_system_cont.m b/templates/generate_system_cont.m index 2d3ee79..770fd8e 100644 --- a/templates/generate_system_cont.m +++ b/templates/generate_system_cont.m @@ -8,4 +8,15 @@ function [Ac, Bc] = generate_system_cont(params) % YOUR CODE HERE + miu = params.model.GravitationalParameter; + r = params.model.TargetRadius; + omega_n = sqrt(miu/(r^3)); + m = params.model.Mass; + Ac = [0,0,0,1,0,0; + 0,0,0,0,1,0; + 0,0,0,0,0,1; + 3*omega_n^2,0,0,0,2*omega_n,0; + 0,0,0,-2*omega_n,0,0; + 0,0,-omega_n^2,0,0,0]; + Bc = [zeros(3,3);1/m*eye(3)]; end
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