diff options
Diffstat (limited to 'templates/LQR.m')
| -rw-r--r-- | templates/LQR.m | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/templates/LQR.m b/templates/LQR.m index 2a79da9..873546a 100644 --- a/templates/LQR.m +++ b/templates/LQR.m @@ -15,13 +15,17 @@ classdef LQR %constructor function obj = LQR(Q,R,params) % YOUR CODE HERE - % obj.K = ... (save feedback matrix for use in eval function) + 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 = ... + u = obj.K * x; ctrl_info = struct('ctrl_feas',true); end end -end
\ No newline at end of file +end |