From 1f12e47e6d1fe8b365806aa0b42de237970d53bf Mon Sep 17 00:00:00 2001 From: Nao Pross Date: Wed, 24 May 2023 16:50:06 +0200 Subject: Take deliverables for Robust MPC from yanzhen According to table 12 - generate_disturbances - simulate_uncertain - compute_tube_contorller - compute_minRPI - compute_tightening - MPC_TUBE - MPC_TUBE/eval (contained in MPC_TUBE.m) - MPC_TUBE_script (and its output MPC_TUBE_params.mat) --- templates/compute_tube_controller.m | 5 +++++ 1 file changed, 5 insertions(+) (limited to 'templates/compute_tube_controller.m') diff --git a/templates/compute_tube_controller.m b/templates/compute_tube_controller.m index adca95d..2c567f0 100644 --- a/templates/compute_tube_controller.m +++ b/templates/compute_tube_controller.m @@ -8,4 +8,9 @@ function K_tube = compute_tube_controller(p,params) % YOUR CODE HERE + Az = params.model.A; + Bz =params.model.B; + % Bz = [params.model.B,eye(params.model.nx)]; + K_tube = -place(Az,Bz,p); + % K_tube = K(1:params.model.nu,:); end \ No newline at end of file -- cgit v1.2.1