Delete old LQR code

1 files changed, 0 insertions, 39 deletions

diff --git a/uav_ctrl_lqr.m b/uav_ctrl_lqr.m
deleted file mode 100644
index 8063c64..0000000
--- a/uav_ctrl_lqr.m
+++ /dev/null
@@ -1,39 +0,0 @@
-% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich
-% 
-% Design a nominal controller for UAV.
-
-function [ctrl_lqr] = uav_ctrl_lqr(params, model)
-
-% ------------------------------------------------------------------------
-% Design a Kalman filter for state estimation
-
-G = model.linear.StateSpace
-[L, P, E] = lqe(G.A, G.
-
-% ------------------------------------------------------------------------
-% Design a nominal LQR controller
-
-% Define penalties according to following priorities
-
-q_pos = 1; % penalty on position
-q_vel = 10; % penalty on linear velocity
-q_ang = 10; % high penalty on angles
-q_rate = 10; % very high penalty on angular velocities
-
-r_ang = 1; % flap movement is cheap
-r_thrust = 10; % thrust is more expensive on the battery
-
-% LQR design matrices
-Q = kron(diag([q_pos, q_vel, q_ang, q_rate]), eye(3));
-R = diag([r_ang, r_ang, r_ang, r_ang, r_thrust]);
-
-% Compute controller using output lqr
-[K, S, poles] = lqry(model.linear.StateSpace, Q, R);
-
-% ------------------------------------------------------------------------
-% Save controller
-
-ctrl_lqr = struct('Name', 'LQR', 'K', K);
-
-end
-% vim: ts=2 sw=2 et: