From a2b24027a2df441f8bef401bd1cd956485c896e9 Mon Sep 17 00:00:00 2001 From: YanzhenXiangRobotics Date: Thu, 11 May 2023 08:16:15 +0200 Subject: ADD: pass 27 --- templates/compute_tube_controller.m | 5 +++++ 1 file changed, 5 insertions(+) (limited to 'templates') 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