From feb6ec844cf2d0cdb07acd609615675141e2706a Mon Sep 17 00:00:00 2001
From: Yuan Xu <yuanxu@student.ethz.ch>
Date: Thu, 11 May 2023 12:00:59 +0200
Subject: update previous files

---
 templates/lqr_maxPI.m | 37 ++-----------------------------------
 1 file changed, 2 insertions(+), 35 deletions(-)

(limited to 'templates/lqr_maxPI.m')

diff --git a/templates/lqr_maxPI.m b/templates/lqr_maxPI.m
index 47ddd37..251d766 100644
--- a/templates/lqr_maxPI.m
+++ b/templates/lqr_maxPI.m
@@ -6,36 +6,6 @@
 % 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
@@ -44,12 +14,10 @@ function [H, h] = lqr_maxPI(Q, R, params)
     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;
@@ -62,14 +30,13 @@ function [H, h] = lqr_maxPI(Q, R, params)
     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
+    H=InvSetLQR.A;
+    h=InvSetLQR.b;
 
 
 end
-- 
cgit v1.2.1