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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_scaled.m | |
| parent | ADD: .gitignore (diff) | |
| download | mpc_pe-c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778.tar.gz mpc_pe-c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778.zip | |
FIX: .gitignore
Diffstat (limited to 'templates/generate_system_scaled.m')
| -rw-r--r-- | templates/generate_system_scaled.m | 15 |
1 files changed, 15 insertions, 0 deletions
diff --git a/templates/generate_system_scaled.m b/templates/generate_system_scaled.m new file mode 100644 index 0000000..38714d2 --- /dev/null +++ b/templates/generate_system_scaled.m @@ -0,0 +1,15 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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_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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