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Merge branch 'master' into nonlinear

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Sravan Balaji
2020-04-16 23:34:38 -04:00
parent 507f174766 7c400b7928
commit e9644122ed
2 changed files with 5 additions and 3 deletions
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8
src/PlantModel.m
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@@ -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);
%K = lqr(A,B,Q,R);

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src/PlantModelSim.slx
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