Commit 4cf99a85 authored by Sylvain Calinon's avatar Sylvain Calinon

Update of damping ratio test

parent ccc7b784
function demo_testLQR02
% Test of the linear quadratic regulation
% Test of the linear quadratic regulation (evaluation of the damping ratio found by the system)
%
% Author: Sylvain Calinon, 2014
% http://programming-by-demonstration.org/SylvainCalinon
......@@ -30,7 +30,7 @@ rFactor = 1E-1; %Weighting term for the minimization of control commands in LQR
disp('Reproductions with LQR...');
DataIn = [1:nbData] * model.dt;
a.currTar = ones(1,nbData);
a.currSigma = ones(1,1,nbData); %/rFactor; %-> LQR with cost X'X + u'u
a.currSigma = ones(1,1,nbData); %-> LQR with cost X'X + u'u
for n=1:nbRepros
%r(n) = reproduction_LQR_finiteHorizon(DataIn, model, a, 0, rFactor);
r(n) = reproduction_LQR_infiniteHorizon(DataIn, model, a, 0, rFactor);
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment