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K matrix

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Thefeli73 2021-04-13 23:43:54 +02:00
parent 34feb811e9
commit 8585e34c73
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EENX15_LQR/LQR.ino
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@ -1,5 +1,9 @@
/** Control Law*/ /** Control Law*/
const float K[statesNumber] = {0.55192, 8.9867, 0.194, 0.39237}; const float K[statesNumber] = {0.55192, 8.9867, 0.194, 0.39237};
//K from our calculation
//const float K[statesNumber] = {-31.6228, -21.2864, 80.7894, 13.4246};
/** Correction factor */ /** Correction factor */
const float scaleConst = 2.5; const float scaleConst = 2.5;