1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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 = np.zeros(params.model.nx);
S = np.zeros(params.model.nx);
Pinf = idare(params.model.A, params.model.B, Q, R, S, E, 'noscaling')
obj.K = -inv(R + B' * Pinf * B) * B' * Pinf * 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
|
