From 7c400b7928fb44c4e753756c5db8045e618dee26 Mon Sep 17 00:00:00 2001 From: Lakshu Periakaruppan Date: Thu, 16 Apr 2020 17:17:37 -0400 Subject: [PATCH] Nonlinear model working now --- src/PlantModel.m | 8 +++++--- src/PlantModelSim.slx | Bin 32430 -> 44882 bytes 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/PlantModel.m b/src/PlantModel.m index 62e9172..ae22b4c 100644 --- a/src/PlantModel.m +++ b/src/PlantModel.m @@ -56,14 +56,15 @@ z0 = 0; xdot0 = 0; ydot0 = 0; zdot0 = 0; -phi0 = 10*(pi/180); -theta0 = 10*(pi/180); +phi0 = 5*(pi/180)*0; +theta0 = 5*(pi/180)*0; psi0 = 0; phidot0 = 0; thetadot0 = 0; psidot0 = 0; initialCondition = [x0, y0, z0, xdot0, ydot0, zdot0, phi0, theta0, psi0, phidot0, thetadot0, psidot0]; + %% %Gains kpp = 0.4754; @@ -80,4 +81,5 @@ kdz = 2.9031; Q = zeros(12); Q(7:9, 7:9) = eye(3); R = 1; -%K = lqr(A,B,Q,R); \ No newline at end of file +%K = lqr(A,B,Q,R); + diff --git a/src/PlantModelSim.slx b/src/PlantModelSim.slx index 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