From b6f865025eed2db716f2f853435855edb0db9e82 Mon Sep 17 00:00:00 2001 From: Nao Pross Date: Wed, 24 May 2023 16:22:02 +0200 Subject: Take deliverables for uncontrained optimal control from npross According to table 5 they are: - LQR - LQR/eval (contained in LQR.m) - simulate - traj_contraints - lqr_tuning - lqr_tuning_script (.m and its .mat output file) --- templates/LQR.m | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) (limited to 'templates/LQR.m') 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 -- cgit v1.2.1