simple_pendulum.controllers.lqr
Linear Quadratic Regulator (LQR)
Subpackages
Submodules
simple_pendulum.controllers.lqr.lqr
LQR solver
Adapted from Mark Wilfried Mueller
- simple_pendulum.controllers.lqr.lqr.dlqr(A, B, Q, R)
Solve the discrete time lqr controller. x[k+1] = A x[k] + B u[k] cost = sum x[k].T*Q*x[k] + u[k].T*R*u[k] ref: Bertsekas, p.151
- simple_pendulum.controllers.lqr.lqr.lqr(A, B, Q, R)
Solve the continuous time lqr controller. dx/dt = A x + B u cost = integral x.T*Q*x + u.T*R*u ref: Bertsekas, p.151
simple_pendulum.controllers.lqr.lqr_controller
LQR Controller
- class simple_pendulum.controllers.lqr.lqr_controller.LQRController(mass=1.0, length=0.5, inertia=None, damping=0.1, coulomb_fric=0.0, gravity=9.81, torque_limit=inf, Q=array([[10, 0], [0, 1]]), R=array([[1]]), compute_RoA=False)
Bases:
AbstractControllerController which stabilizes the pendulum at its instable fixpoint.
- get_control_output(meas_pos, meas_vel, meas_tau=0, meas_time=0)
The function to compute the control input for the pendulum actuator :param meas_pos: the position of the pendulum [rad] :type meas_pos: float :param meas_vel: the velocity of the pendulum [rad/s] :type meas_vel: float :param meas_tau: the meastured torque of the pendulum [Nm]
(not used)
- Parameters:
meas_time (float, default=0) – the collapsed time [s] (not used)
- Returns:
des_pos (float) – the desired position of the pendulum [rad] (not used, returns None)
des_vel (float) – the desired velocity of the pendulum [rad/s] (not used, returns None)
des_tau (float) – the torque supposed to be applied by the actuator [Nm]
- set_clip()
- set_goal(goal)
Set the desired state for the controller. May not be necessary.
- Parameters:
- ``x``: ``array like``
The desired goal state of the controller