From c30079b64d19e8b46b111fb2110dbebf9ed32c37 Mon Sep 17 00:00:00 2001 From: YanzhenXiangRobotics Date: Tue, 25 Apr 2023 20:41:27 +0200 Subject: ADD: .gitignore --- templates/generate_params_z.m | 55 ------------------------------------------- 1 file changed, 55 deletions(-) delete mode 100644 templates/generate_params_z.m (limited to 'templates/generate_params_z.m') diff --git a/templates/generate_params_z.m b/templates/generate_params_z.m deleted file mode 100644 index a7cfaa9..0000000 --- a/templates/generate_params_z.m +++ /dev/null @@ -1,55 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [params_z] = generate_params_z(params) -% initialize params_z -params_z = params; - -% add initial condition of z-subsystem -params_z.model = rmfield(params_z.model,{'InitialConditionA', ... - 'InitialConditionB', ... - 'InitialConditionC'}); -params_z.model.InitialConditionA_z = [-0.07;0.04]; % TODO: tune - -% define projection matrices -T_z_x = [0 0 1 0 0 0; - 0 0 0 0 0 1]; -T_z_u = [0 0 1]; - -% projected system dynamics -params_z.model.A = T_z_x*params.model.A*T_z_x'; -params_z.model.B = T_z_x*params.model.B*T_z_u'; -params_z.model.nx = 2; -params_z.model.nu = 1; - -% state constraints -Hx = params.constraints.StateMatrix * T_z_x'; -hx = params.constraints.StateRHS; -X = Polyhedron('A',Hx,'b',hx); -X.minHRep(); - -params_z.constraints.StateMatrix = X.A; -params_z.constraints.StateRHS = X.b; - -% input constraints -Hu = params.constraints.InputMatrix * T_z_u'; -hu = params.constraints.InputRHS; -U = Polyhedron('A',Hu,'b',hu); - -params_z.constraints.InputMatrix = U.A; -params_z.constraints.InputRHS = U.b; - -% disturbance constraints -max_disturbance = 1e-4; % TODO: chose -params_z.constraints.MaxAbsDisturbance = max_disturbance; -H_w = kron(eye(params_z.model.nx),[1;-1]); -h_w = ones(2*params_z.model.nx, 1) * max_disturbance; - -params_z.constraints.DisturbanceMatrix = H_w; -params_z.constraints.DisturbanceRHS = h_w; -end -- cgit v1.2.1