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-rw-r--r--templates/LQR.m9
1 files changed, 5 insertions, 4 deletions
diff --git a/templates/LQR.m b/templates/LQR.m
index a213bd7..873546a 100644
--- a/templates/LQR.m
+++ b/templates/LQR.m
@@ -15,10 +15,11 @@ classdef LQR
%constructor
function obj = LQR(Q,R,params)
% YOUR CODE HERE
- E = np.zeros(params.model.nx);
- S = np.zeros(params.model.nx);
- Pinf = idare(params.model.A, params.model.B, Q, R, S, E, 'noscaling')
- obj.K = -inv(R + B' * Pinf * B) * B' * Pinf * A;
+ E = zeros(params.model.nx);
+ S = zeros(params.model.nx, params.model.nu);
+ Pinf = idare(params.model.A, params.model.B, Q, R);
+ obj.K = -inv(R + params.model.B' * Pinf * params.model.B) ...
+ * params.model.B' * Pinf * params.model.A;
end
function [u, ctrl_info] = eval(obj,x)