onepi.utils.lqr_controller.LQRController Class Reference

Public Member Functions
	__init__ (self, A, B, C, D, Q, R, damping=0.10)
	compute_output (self, current_speed, dt=0.01)
	get_setpoint (self)
	change_setpoint (self, setpoint)
	set_lqr_params (self, Q, R)

Public Attributes
	A = A - damping * np.eye(A.shape[0])
	B = B
	C = C
	D = D
	Q = Q
	R = R
	K = R
	S
	E = ctrl.lqr(A_aug, B_aug, Q, R)
	A_aug = A_aug
	B_aug = B_aug
	x = np.zeros((A_aug.shape[0],))

Protected Attributes
int	_setpoint = 0

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The documentation for this class was generated from the following file:

• onepi/utils/lqr_controller.py