From bbf8c17a58001bfe15948e3b2a31ca2a1a95f928 Mon Sep 17 00:00:00 2001 From: YanzhenXiangRobotics Date: Tue, 25 Apr 2023 16:42:53 +0200 Subject: ADD: init proj --- templates/LQR.m | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) create mode 100644 templates/LQR.m (limited to 'templates/LQR.m') diff --git a/templates/LQR.m b/templates/LQR.m new file mode 100644 index 0000000..2a79da9 --- /dev/null +++ b/templates/LQR.m @@ -0,0 +1,27 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 + % obj.K = ... (save feedback matrix for use in eval function) + end + + function [u, ctrl_info] = eval(obj,x) + % YOUR CODE HERE + % u = ... + ctrl_info = struct('ctrl_feas',true); + end + end +end \ No newline at end of file -- cgit v1.2.1