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-rw-r--r--templates/LQR.m5
1 files changed, 3 insertions, 2 deletions
diff --git a/templates/LQR.m b/templates/LQR.m
index c84a670..c05237d 100644
--- a/templates/LQR.m
+++ b/templates/LQR.m
@@ -18,9 +18,10 @@ classdef LQR
% 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);
+ % [X, L, G] = dare(A,B,Q,R);
+ [K,S,e] = dlqr(A,B,Q,R)
% obj.K = -inv(B'*P_inf*B+R)*B'*P_inf*A;
- obj.K = -G;
+ obj.K = -K;
end
function [u, ctrl_info] = eval(obj,x)