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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
E = zeros(params.model.nx);
S = zeros(params.model.nx, params.model.nu);
Pinf = idare(params.model.A, params.model.B, Q, R);
obj.K = -inv(R + params.model.B' * Pinf * params.model.B) ...
* params.model.B' * Pinf * params.model.A;
end
function [u, ctrl_info] = eval(obj,x)
% YOUR CODE HERE
u = obj.K * x;
ctrl_info = struct('ctrl_feas',true);
end
end
end
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