From 3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e Mon Sep 17 00:00:00 2001 From: YanzhenXiangRobotics Date: Wed, 10 May 2023 23:30:01 +0200 Subject: Revert to handout --- templates/LQR.m | 7 ------- 1 file changed, 7 deletions(-) (limited to 'templates/LQR.m') diff --git a/templates/LQR.m b/templates/LQR.m index c05237d..2a79da9 100644 --- a/templates/LQR.m +++ b/templates/LQR.m @@ -16,18 +16,11 @@ 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); - [K,S,e] = dlqr(A,B,Q,R) - % obj.K = -inv(B'*P_inf*B+R)*B'*P_inf*A; - obj.K = -K; end function [u, ctrl_info] = eval(obj,x) % YOUR CODE HERE % u = ... - u = obj.K*x; ctrl_info = struct('ctrl_feas',true); end end -- cgit v1.2.1