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leggedrobotics / ocs2

Optimal Control for Switched Systems
https://leggedrobotics.github.io/ocs2
BSD 3-Clause "New" or "Revised" License
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Question: something unusual in loopshaping #81

Open wanghg1992 opened 1 year ago

wanghg1992 commented 1 year ago

I am using loopshaping in OCS2, but there is some difference between my simulation and paper "Frequency-Aware Model Predictive Control", I suspect I make some mistakes when using loopshaping. So is there any examples for using loopshaping?