diff options
| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:41:27 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:41:27 +0200 |
| commit | c30079b64d19e8b46b111fb2110dbebf9ed32c37 (patch) | |
| tree | 4ceac09270c411f426cf8f10f86f458ef1f92dd2 /templates/generate_system_cont.m | |
| parent | ADD: pass system modeling test (diff) | |
| download | mpc_pe-c30079b64d19e8b46b111fb2110dbebf9ed32c37.tar.gz mpc_pe-c30079b64d19e8b46b111fb2110dbebf9ed32c37.zip | |
ADD: .gitignore
Diffstat (limited to '')
| -rw-r--r-- | templates/generate_system_cont.m | 22 |
1 files changed, 0 insertions, 22 deletions
diff --git a/templates/generate_system_cont.m b/templates/generate_system_cont.m deleted file mode 100644 index 770fd8e..0000000 --- a/templates/generate_system_cont.m +++ /dev/null @@ -1,22 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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 [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
\ No newline at end of file |