Resolve "Add LQR Control to Simulink"

Austin Rohlfingrequested to merge
46-add-lqr-control-to-simulink into master

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

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