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| author | Nao Pross <np@0hm.ch> | 2024-05-14 01:05:42 +0200 |
|---|---|---|
| committer | Nao Pross <np@0hm.ch> | 2024-05-14 01:05:42 +0200 |
| commit | e4bcf8516f7b888c626397912be84d9ee4679822 (patch) | |
| tree | 40d5baa469d3cfcfda1ce51d446c843b1a5a1602 /uav_model.m | |
| parent | Improve console output (diff) | |
| download | uav-e4bcf8516f7b888c626397912be84d9ee4679822.tar.gz uav-e4bcf8516f7b888c626397912be84d9ee4679822.zip | |
Implement DK iteration
Diffstat (limited to 'uav_model.m')
| -rw-r--r-- | uav_model.m | 12 |
1 files changed, 5 insertions, 7 deletions
diff --git a/uav_model.m b/uav_model.m index 0af0818..0ec9a67 100644 --- a/uav_model.m +++ b/uav_model.m @@ -318,16 +318,14 @@ usys = ss(ulmod.a, ulmod.b, ulmod.c, ulmod.d); % Specify uncertainty block structure for mussv command blk_stab = [ - 4, 0; % alpha - 1, 0; % omega - 12, 12; % state + 4, 0; % alpha uncert, diagonal + 1, 0; % omega uncert, diagonal + 12, 12; % state uncert, full ]; blk_perf = [ - 4, 0; % alpha - 1, 0; % omega - 3, 3; % position - 3, 3; % velocity + blk_stab; + 10, 14; ]; % Save uncertain model |