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Diffstat (limited to '')
| -rw-r--r-- | Submission files/LQR.m | 31 |
1 files changed, 31 insertions, 0 deletions
diff --git a/Submission files/LQR.m b/Submission files/LQR.m new file mode 100644 index 0000000..873546a --- /dev/null +++ b/Submission files/LQR.m @@ -0,0 +1,31 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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. +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +classdef LQR + properties + K + end + + methods + %constructor + function obj = LQR(Q,R,params) + % YOUR CODE HERE + 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) + % YOUR CODE HERE + u = obj.K * x; + ctrl_info = struct('ctrl_feas',true); + end + end +end |