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LQR Nonlinear Setup

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- Rename Naman_LQR_working.m to LQR.m
- Create copy of plant model called LQR.slx to implement nonlinear
  simulation
This commit is contained in:
Sravan Balaji
2020-04-16 23:45:44 -04:00
parent e9644122ed
commit 63536134e6
2 changed files with 5 additions and 0 deletions
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5
src/Naman_LQR_Working.m → src/LQR.m
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@@ -76,6 +76,11 @@ impulse(discrete, 0:T_s:1);
%U3 couples Y1 and Y5, and U4 gets us Y6 %U3 couples Y1 and Y5, and U4 gets us Y6
%% Define goals %% Define goals
% Desired position
x_d = 0;
y_d = 0;
z_d = 0;
%Goal 1: settle at 1m height <2s %Goal 1: settle at 1m height <2s
x_0_up = [0, 0, -1, ... x_0_up = [0, 0, -1, ...
0, 0, 0, ... 0, 0, 0, ...

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src/LQR.slx Normal file
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