From feb6ec844cf2d0cdb07acd609615675141e2706a Mon Sep 17 00:00:00 2001 From: Yuan Xu Date: Thu, 11 May 2023 12:00:59 +0200 Subject: update previous files --- templates/LQR.m | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) (limited to 'templates/LQR.m') diff --git a/templates/LQR.m b/templates/LQR.m index c05237d..d23e64a 100644 --- a/templates/LQR.m +++ b/templates/LQR.m @@ -14,20 +14,14 @@ classdef LQR methods %constructor 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; + [K,~,~] = dlqr(A,B,Q,R); + obj.K = K; end function [u, ctrl_info] = eval(obj,x) - % YOUR CODE HERE - % u = ... - u = obj.K*x; + u = -obj.K * x; ctrl_info = struct('ctrl_feas',true); end end -- cgit v1.2.1