Code Cleanup & Project Name Update

- Cleanup LQR.m and add whitespaces
- Change project name in README and home
- Add Source Code section to home.md describing each file

README.md

@@ -2,7 +2,7 @@
 
 UMICH EECS / MECHENG 561: Design of Digital Control Systems WN 2020
 
-Full State Feedback and Control of a Quadcopter Drone
+A Comparison of Quadcopter Drone Control Methods
 
 ## Documentation
 

docs/home.md

@@ -1,8 +1,9 @@
-# Full State Feedback and Control of a Quadcopter Drone <!-- omit in toc -->
+# A Comparison of Quadcopter Drone Control Methods <!-- omit in toc -->
 
 ## Table of Contents <!-- omit in toc -->
 - [Contributors](#contributors)
 - [Documents](#documents)
+- [Source Code](#source-code)
 
 ## Contributors
 
@@ -23,3 +24,21 @@
 
 1. [Project Proposal](1.%20ME%20561%20Project%20Proposal.pdf)
 2. [Final Report - Overleaf (Read-Only)](https://www.overleaf.com/read/kyjvdsxkfnmg)
+
+## Source Code
+
+### [LQR.m](../src/LQR.m) <!-- omit in toc -->
+
+Finite and infinite time horizon LQR implementation in MATLAB. Gains determined for linearized discrete time system, then simulated on nonlinear system (see LQRNonlinearSim.slx below).
+
+### [LQRNonlinearSim.slx](../src/LQRNonlinearSim.slx) <!-- omit in toc -->
+
+Simulink nonlinear model that is run from within LQR.m. Takes gain matrix **K** and initial condition **x_0** as input.
+
+### [PlantModel.m](../src/PlantModel.m) <!-- omit in toc -->
+
+Parameters for PID controller (see PlantModelSim.slx below).
+
+### [PlantModelSim.slx](../src/PlantModelSim.slx) <!-- omit in toc -->
+
+PID control of nonlinear and linear system.

src/LQR.m

@@ -1,9 +1,14 @@
 % Clear workspace
-clear all; close all; clc;
+clear all;
+close all;
+clc;
 
 % Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf
-g = 9.81;   m = 0.468;  Ix = 4.856*10^-3;
+g = 9.81;
-Iy = 4.856*10^-3;   Iz = 8.801*10^-3;
+m = 0.468;
+Ix = 4.856*10^-3;
+Iy = 4.856*10^-3;
+Iz = 8.801*10^-3;
 
 % States:
 % X1: x                         X4: x'
@@ -86,12 +91,12 @@ x_0_up = [0, 0, -1, ...
 x_0_pitchroll = [0, 0, 0, ...
                  0, 0, 0, ...
                  10*(pi/180), 10*(pi/180), 0, ...
-       0, 0, 0]'; %Pitch and roll of 10 degrees
+                 0, 0, 0]'; %Pitch and roll of 10 degrees (convert to radians)
 
 x_0_roll = [0, 0, 0, ...
             0, 0, 0, ...
             0, 10*(pi/180), 0, ...
-       0, 0, 0]'; %Roll of 10 degrees
+            0, 0, 0]'; %Roll of 10 degrees (convert to radians)
    
 % Goal 3: Move from position (0,0,0) to within 5 cm of (1,1,1) within 5 seconds.
 x_0_trans = [-1, -1, 0, ...