summaryrefslogtreecommitdiffstats
path: root/templates/generate_system_scaled.m
blob: d65c7b39bef9bcdda7d1c7b2ff644006be7fc93c (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function [A, B] = generate_system_scaled(At, Bt, params)
    % YOUR CODE HERE
    V = params.model.ScalingMatrix;
    Vinv = inv(V);

    A = V*At*Vinv;
    B = V*Bt;
end