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Whitespace Changes

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- Add whitespace to align elements of matrices
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Sravan Balaji
2020-04-16 13:27:51 -04:00
parent bbb4036f73
commit a6cd6b4a00
1 changed files with 12 additions and 12 deletions
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24
Naman_LQR_Working.m
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@@ -78,26 +78,26 @@ impulse(discrete, 0:T_s:1);
%% Define goals
%Goal 1: settle at 1m height <2s
x_0_up = [0, 0, -1, ...
0, 0, 0, ...
0, 0, 0, ...
0, 0, 0]'; %Redefine origin!
0, 0, 0, ...
0, 0, 0, ...
0, 0, 0]'; %Redefine origin!
%Goal 2: Stabilize from a 10-degree roll and pitch with <3deg overshoot
x_0_pitch = [0, 0, 0, ...
0, 0, 0, ...
10, 0, 0, ...
0, 0, 0]'; %Pitch of 10 degrees
0, 0, 0, ...
10, 0, 0, ...
0, 0, 0]'; %Pitch of 10 degrees
x_0_roll = [0, 0, 0, ...
0, 0, 0, ...
0, 10, 0, ...
0, 0, 0]'; %Roll of 10 degrees
0, 0, 0, ...
0, 10, 0, ...
0, 0, 0]'; %Roll of 10 degrees
%Goal 3: Move from position (0,0,0) to within 5 cm of (1,1,1) within 5 seconds.
x_0_trans = [-1, -1, -1, ...
0, 0, 0, ...
0, 0, 0, ...
0, 0, 0]'; %Redefine origin!
0, 0, 0, ...
0, 0, 0, ...
0, 0, 0]'; %Redefine origin!
%Define Q and R for the cost function. Begin with nominal ones for all.
Q = diag([1000, 1000, 1000, ... % x, y, z