diff options
| -rw-r--r-- | templates/LQR.m | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/templates/LQR.m b/templates/LQR.m index 2a79da9..c84a670 100644 --- a/templates/LQR.m +++ b/templates/LQR.m @@ -16,11 +16,17 @@ classdef LQR function obj = LQR(Q,R,params) % YOUR CODE HERE % obj.K = ... (save feedback matrix for use in eval function) + A = params.model.A; + B = params.model.B; + [X, L, G] = dare(A,B,Q,R); + % obj.K = -inv(B'*P_inf*B+R)*B'*P_inf*A; + obj.K = -G; end function [u, ctrl_info] = eval(obj,x) % YOUR CODE HERE % u = ... + u = obj.K*x; ctrl_info = struct('ctrl_feas',true); end end |