Resolve "Add LQR Control to Simulink"

Feature Description

Implements an LQR Controller in the MATLAB/Simulink simulation

Implementation Details

Added the following features

• Symbolic linearization of non-linear model (linearization.m)
• Construction of LQR controller with diagonal weighting matrices (initial_lqr.m)
• Copy of modelParameters.m with Matt Rich's parameters for testing (`rich_params.m')
• Tools to run simulation, observe error, and optimize LQR weights (run_once.m, lqr_err.m, and repeated_opt.m)

Impacted Areas

• Controls

Please note that the only things I changed on modelParameters.m are the two lines of comments at the top and the last block of less than a dozen lines. The rest is just whitespace format fixes. Don't waste your time looking for differences in there; there are none.

approved this merge request

approved this merge request

added 2 commits

• cb2183aa - Added 'improved' LQR design
• 423c3239 - New Simulink screenshots

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added 1 commit

• f7d45683 - Updated Simulink model doc with new model modifications

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added 1 commit

• 12ed974d - Finished LQR Design document

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added 1 commit

• d47854dd - Added corrections to Rick's work in LQR design doc

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resolved all discussions

approved this merge request

approved this merge request

merged

mentioned in commit 996e9384