From 3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e Mon Sep 17 00:00:00 2001
From: YanzhenXiangRobotics <xyz000327@gmail.com>
Date: Wed, 10 May 2023 23:30:01 +0200
Subject: Revert to handout

---
 templates/lqr_maxPI.m | 70 ++-------------------------------------------------
 1 file changed, 2 insertions(+), 68 deletions(-)

(limited to 'templates/lqr_maxPI.m')

diff --git a/templates/lqr_maxPI.m b/templates/lqr_maxPI.m
index 47ddd37..efa335a 100644
--- a/templates/lqr_maxPI.m
+++ b/templates/lqr_maxPI.m
@@ -6,73 +6,7 @@
 % Please see the LICENSE file that has been included as part of this package.
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-% function [H, h] = lqr_maxPI(Q, R, params)
-%     % Define the linear system
-%     A = params.model.A;
-%     B = params.model.B;
-%     
-%     % Define the state and input constraints
-%     s_max=params.constraints.MaxAbsPositionXZ;
-%     y_max=params.constraints.MaxAbsPositionY;
-%     u_max = params.constraints.MaxAbsThrust;
-%     
-%     % Define the cost function
-%     [K, ~, ~] = dlqr(A, B, Q, R);
-%     P = dare(A, B, Q, R)
-%     F = -inv((B'*P*B+R))*B'*P*A
-%     A
-%     B
-%     Ax=[1,0;
-%         0,1;
-%         -1,0;
-%         0,-1];
-%     Ax=[1,0;
-%         -1,0;
-%         0,1;
-%         0,-1];
-%         Au=Ax;
-%     bx=[s_max;s_max;s_max;s_max];
-%     bu=[u_max;u_max;u_max;u_max];
-%     H=[Ax;Au*F]/2
-%     h=[bx;bu]
-%     end
-
-function [H, h] = lqr_maxPI(Q, R, params)
-    % Define the linear system
-    A = params.model.A;
-    B = params.model.B;
-    nx=params.model.nx;
-    nu=params.model.nu;
-    
-    % Define the state and input constraints
-    s_max= params.constraints.MaxAbsPositionXZ;
-    y_max= params.constraints.MaxAbsPositionY;
-    u_max = params.constraints.MaxAbsThrust;
-    
-    % Define the cost function
-    K = -dlqr(A, B, Q, R);
-    systemLQR = LTISystem('A', A+B*K);
-%     absxmax = ones(nx,1)*s_max;
-%     absumax = ones(nu,1)*u_max;
-%     Xp = Polyhedron('A',[eye(nx); -eye(nx); K; -K], 'b', [absxmax;absxmax; absumax;absumax]);
-    Hx=params.constraints.StateMatrix;
-    hx=params.constraints.StateRHS;
-    Hu=params.constraints.InputMatrix;
-    hu=params.constraints.InputRHS;
-    Xp = Polyhedron('A',[Hx;Hu*K], 'b', [hx;hu]);
-    
-    figure(1);
-%     Xp.plot(),  alpha(0.25), title('Resulting State Constraints under LQR Control'), xlabel('x_1'), ylabel('x_2'), zlabel('x_3');
-    systemLQR.x.with('setConstraint');
-    systemLQR.x.setConstraint = Xp;
-    InvSetLQR = systemLQR.invariantSet();
-    InvSetLQR.plot(), alpha(0.25), title('Invariant Set for Triple Integrator under LQR Control'), xlabel('x_1'), ylabel('x_2'), zlabel('x_3');
-
-    H=InvSetLQR.A
-    h=InvSetLQR.b
-
-
+function [H, h] = lqr_maxPI(Q,R,params)
+	% YOUR CODE HERE
 end
 
-
-
-- 
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