From 63536134e6ee24f7bf1781e65300d090d4b7ebbd Mon Sep 17 00:00:00 2001 From: Sravan Balaji Date: Thu, 16 Apr 2020 23:45:44 -0400 Subject: [PATCH] LQR Nonlinear Setup - Rename Naman_LQR_working.m to LQR.m - Create copy of plant model called LQR.slx to implement nonlinear simulation --- src/{Naman_LQR_Working.m => LQR.m} | 5 +++++ src/LQR.slx | Bin 0 -> 48372 bytes 2 files changed, 5 insertions(+) rename src/{Naman_LQR_Working.m => LQR.m} (99%) create mode 100644 src/LQR.slx diff --git a/src/Naman_LQR_Working.m b/src/LQR.m similarity index 99% rename from src/Naman_LQR_Working.m rename to src/LQR.m index 2a71358..e8c9de7 100644 --- a/src/Naman_LQR_Working.m +++ b/src/LQR.m @@ -76,6 +76,11 @@ impulse(discrete, 0:T_s:1); %U3 couples Y1 and Y5, and U4 gets us Y6 %% Define goals +% Desired position +x_d = 0; +y_d = 0; +z_d = 0; + %Goal 1: settle at 1m height <2s x_0_up = [0, 0, -1, ... 0, 0, 0, ... diff --git a/src/LQR.slx b/src/LQR.slx new file mode 100644 index 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