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| author | YanzhenXiang <54230111+YanzhenXiangRobotics@users.noreply.github.com> | 2023-11-06 16:49:26 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-11-06 16:49:26 +0100 |
| commit | d6b96c55ebb89ebd6e2d990ec89122799c68a230 (patch) | |
| tree | 7a837438da9e07a5e77658c6d882577fff8bcae1 /templates/generate_system_scaled.m | |
| parent | Update 23 (diff) | |
| parent | update the new submission zip generated from npross branch (diff) | |
| download | mpc_pe-d6b96c55ebb89ebd6e2d990ec89122799c68a230.tar.gz mpc_pe-d6b96c55ebb89ebd6e2d990ec89122799c68a230.zip | |
Submission
Diffstat (limited to 'templates/generate_system_scaled.m')
| -rw-r--r-- | templates/generate_system_scaled.m | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/templates/generate_system_scaled.m b/templates/generate_system_scaled.m index eac8db8..d65c7b3 100644 --- a/templates/generate_system_scaled.m +++ b/templates/generate_system_scaled.m @@ -6,6 +6,11 @@ % Please see the LICENSE file that has been included as part of this package. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -function [A,B] = generate_system_scaled(At,Bt,params) +function [A, B] = generate_system_scaled(At, Bt, params) % YOUR CODE HERE -end
\ No newline at end of file + V = params.model.ScalingMatrix; + Vinv = inv(V); + + A = V*At*Vinv; + B = V*Bt; +end |