lqr_motor.py File Reference

Go to the source code of this file.

Namespaces
namespace	lqr_motor

Variables
float	lqr_motor.R = 1.0
float	lqr_motor.L = 0.5
float	lqr_motor.Ke = 0.01
float	lqr_motor.Kt = 0.01
float	lqr_motor.J = 0.01
float	lqr_motor.B = 0.1
	lqr_motor.A = np.array([[-R / L, -Ke / L, 0], [Kt / J, -B / J, 0], [0, 1, 0]])
	lqr_motor.C = np.array([[0, 0, 1]])
	lqr_motor.Q = np.diag([10, 1, 100])
	lqr_motor.R_mat = np.array([[0.01]])
	lqr_motor.P = solve_continuous_are(A, B, Q, R_mat)
float	lqr_motor.K = np.linalg.inv(R_mat) @ B.T @ P
float	lqr_motor.dt = 0.001
float	lqr_motor.T = 5.0
	lqr_motor.N = int(T / dt)
	lqr_motor.t = np.linspace(0, T, N)
	lqr_motor.x = np.zeros((3, 1))
float	lqr_motor.r = 1.0
	lqr_motor.x_hist = np.array(x_hist)
	lqr_motor.u_hist = np.array(u_hist)
float	lqr_motor.u = -K @ x + K[0, 2] * r
float	lqr_motor.dx = A @ x + B * u
	lqr_motor.figsize
	lqr_motor.label
	lqr_motor.color
	lqr_motor.linestyle