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author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:28:44 +0200 |
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committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:28:44 +0200 |
commit | 55a42b2be769bbfbd5b697338c6729f06a3d17cc (patch) | |
tree | fa380bdc758ac73fc63d4e938dd97fff0ce314fb /templates/generate_system_scaled.m | |
parent | ADD: init proj (diff) | |
download | mpc_pe-55a42b2be769bbfbd5b697338c6729f06a3d17cc.tar.gz mpc_pe-55a42b2be769bbfbd5b697338c6729f06a3d17cc.zip |
ADD: pass system modeling test
Diffstat (limited to 'templates/generate_system_scaled.m')
-rw-r--r-- | templates/generate_system_scaled.m | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/templates/generate_system_scaled.m b/templates/generate_system_scaled.m index eac8db8..38714d2 100644 --- a/templates/generate_system_scaled.m +++ b/templates/generate_system_scaled.m @@ -8,4 +8,8 @@ function [A,B] = generate_system_scaled(At,Bt,params) % YOUR CODE HERE + % V = diag([1e-6, 1e-6, 1e-6, 1e-3, 1e-3, 1e-3]); + V = params.model.ScalingMatrix; + A = V*At*inv(V); + B = V*Bt; end
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