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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
classdef LQR
properties
K
end
methods
%constructor
function obj = LQR(Q,R,params)
% YOUR CODE HERE
% obj.K = ... (save feedback matrix for use in eval function)
A = params.model.A;
B = params.model.B;
% [X, L, G] = dare(A,B,Q,R);
[K,S,e] = dlqr(A,B,Q,R)
% obj.K = -inv(B'*P_inf*B+R)*B'*P_inf*A;
obj.K = -K;
end
function [u, ctrl_info] = eval(obj,x)
% YOUR CODE HERE
% u = ...
u = obj.K*x;
ctrl_info = struct('ctrl_feas',true);
end
end
end
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