Closed Yngjx closed 8 months ago
Hi,
You are right. You need to linearize the model first and then define Q and P matrices to have the LQR results. For this Van der Pol oscillator, we used the well-known results from Hassan K. Khalil's book. Please see Example 3.14 on page 64 for details.
Thanks.
Hi,
I see what you mean, this is very rewarding for me.
Thank you very much for your reply, best wishes!
Hi, zhou
I want to ask you a question. In this Plotting.ipynb, you compared your own method with LQR, but you did not give the solution method for V_lqr in the code.For example:
According to my understanding, to use lqr to solve P of the lyapunov function, you first need to linearize the state equation to find A and B, then set up two weight matrices Q and R, and finally use the lqr() function to solve.
I don't know if this is how you solved it. If so, can you give me a detailed solution process?
Thank you very much and wish you a happy life!