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dfki-ric-underactuated-lab / torque_limited_simple_pendulum

Torque Limited Simple Pendulum Underactuated System
BSD 3-Clause "New" or "Revised" License
54 stars 19 forks source link

wrong "B" matrix in lqr_controller.py #13

Closed jia-xinyu closed 2 years ago

jia-xinyu commented 2 years ago

https://github.com/dfki-ric-underactuated-lab/torque_limited_simple_pendulum/blob/222c610b6ce8e684f7141c1eeddbeb8f85f45b65/software/python/simple_pendulum/controllers/lqr/lqr_controller.py#L39

Hi, "B" matrix is probably wrong. It should be self.B = np.array([[0, 1/self.m/self.len**2.0]]).T. But this small issue does not affect the final result too much as shown below.

Finally, thanks for your sharing! This project does greatly enhance my understanding of control methods.

fwiebe commented 2 years ago

Thanks for your feedback. You are right. I fixed the B matrix.