From edcb2b87cd14e28eab485eb82644e36b0c899c3e Mon Sep 17 00:00:00 2001
From: Tue Herlau <tuhe@dtu.dk>
Date: Thu, 13 Mar 2025 15:25:17 +0100
Subject: [PATCH] More solutions files
---
solutions/ex06/boeing_lqr_TODO_1.py | 1 +
solutions/ex06/boeing_lqr_TODO_2.py | 1 +
solutions/ex06/boeing_lqr_TODO_3.py | 3 +++
solutions/ex06/boeing_lqr_TODO_4.py | 2 ++
solutions/ex06/dlqr_TODO_1.py | 2 ++
solutions/ex06/dlqr_TODO_2.py | 1 +
solutions/ex06/dlqr_TODO_3.py | 4 ++++
solutions/ex06/lqr_agent_TODO_1.py | 1 +
solutions/ex06/lqr_agent_TODO_2.py | 1 +
solutions/ex06/lqr_pid_TODO_1.py | 3 +++
solutions/ex06/lqr_pid_TODO_2.py | 1 +
11 files changed, 20 insertions(+)
create mode 100644 solutions/ex06/boeing_lqr_TODO_1.py
create mode 100644 solutions/ex06/boeing_lqr_TODO_2.py
create mode 100644 solutions/ex06/boeing_lqr_TODO_3.py
create mode 100644 solutions/ex06/boeing_lqr_TODO_4.py
create mode 100644 solutions/ex06/dlqr_TODO_1.py
create mode 100644 solutions/ex06/dlqr_TODO_2.py
create mode 100644 solutions/ex06/dlqr_TODO_3.py
create mode 100644 solutions/ex06/lqr_agent_TODO_1.py
create mode 100644 solutions/ex06/lqr_agent_TODO_2.py
create mode 100644 solutions/ex06/lqr_pid_TODO_1.py
create mode 100644 solutions/ex06/lqr_pid_TODO_2.py
diff --git a/solutions/ex06/boeing_lqr_TODO_1.py b/solutions/ex06/boeing_lqr_TODO_1.py
new file mode 100644
index 0000000..649101b
--- /dev/null
+++ b/solutions/ex06/boeing_lqr_TODO_1.py
@@ -0,0 +1 @@
+ Q, R, q = compute_Q_R_q(model, dt)
\ No newline at end of file
diff --git a/solutions/ex06/boeing_lqr_TODO_2.py b/solutions/ex06/boeing_lqr_TODO_2.py
new file mode 100644
index 0000000..ba3dbc6
--- /dev/null
+++ b/solutions/ex06/boeing_lqr_TODO_2.py
@@ -0,0 +1 @@
+ agent = LQRAgent(env, A=A, B=B, d=d, Q=Q, R=R, q=q)
\ No newline at end of file
diff --git a/solutions/ex06/boeing_lqr_TODO_3.py b/solutions/ex06/boeing_lqr_TODO_3.py
new file mode 100644
index 0000000..e5328ff
--- /dev/null
+++ b/solutions/ex06/boeing_lqr_TODO_3.py
@@ -0,0 +1,3 @@
+ Q = cost.Q * dt
+ R = cost.R * dt
+ q = cost.q * dt
\ No newline at end of file
diff --git a/solutions/ex06/boeing_lqr_TODO_4.py b/solutions/ex06/boeing_lqr_TODO_4.py
new file mode 100644
index 0000000..5100172
--- /dev/null
+++ b/solutions/ex06/boeing_lqr_TODO_4.py
@@ -0,0 +1,2 @@
+ B_discrete = scipy.linalg.inv(model.A) @ (A_discrete - np.eye(model.A.shape[0])) @ model.B
+ d_discrete = scipy.linalg.inv(model.A) @ (A_discrete - np.eye(model.A.shape[0])) @ d
\ No newline at end of file
diff --git a/solutions/ex06/dlqr_TODO_1.py b/solutions/ex06/dlqr_TODO_1.py
new file mode 100644
index 0000000..7615471
--- /dev/null
+++ b/solutions/ex06/dlqr_TODO_1.py
@@ -0,0 +1,2 @@
+import matplotlib
+matplotlib.use('agg')
\ No newline at end of file
diff --git a/solutions/ex06/dlqr_TODO_2.py b/solutions/ex06/dlqr_TODO_2.py
new file mode 100644
index 0000000..f34eec8
--- /dev/null
+++ b/solutions/ex06/dlqr_TODO_2.py
@@ -0,0 +1 @@
+ V[N], v[N], vc[N] = QN, qN, qcN
\ No newline at end of file
diff --git a/solutions/ex06/dlqr_TODO_3.py b/solutions/ex06/dlqr_TODO_3.py
new file mode 100644
index 0000000..14bb8ad
--- /dev/null
+++ b/solutions/ex06/dlqr_TODO_3.py
@@ -0,0 +1,4 @@
+ Suu = R[k] + B[k].T @ (V[k+1] + mu * In) @ B[k]
+ Sux = H[k] + B[k].T @ (V[k+1] + mu * In) @ A[k]
+ Su = r[k] + B[k].T @ v[k + 1] + B[k].T @ V[k + 1] @ d[k]
+ L[k] = -np.linalg.solve(Suu, Sux)
\ No newline at end of file
diff --git a/solutions/ex06/lqr_agent_TODO_1.py b/solutions/ex06/lqr_agent_TODO_1.py
new file mode 100644
index 0000000..f82d69e
--- /dev/null
+++ b/solutions/ex06/lqr_agent_TODO_1.py
@@ -0,0 +1 @@
+ (self.L, self.l), _ = LQR(A=[A]*N, B=[B]*N, d=[d]*N if d is not None else None, Q=[Q]*N, q=[q]*N if q is not None else None, R=[R]*N)
\ No newline at end of file
diff --git a/solutions/ex06/lqr_agent_TODO_2.py b/solutions/ex06/lqr_agent_TODO_2.py
new file mode 100644
index 0000000..e8994b0
--- /dev/null
+++ b/solutions/ex06/lqr_agent_TODO_2.py
@@ -0,0 +1 @@
+ u = self.L[k] @ x + self.l[k]
\ No newline at end of file
diff --git a/solutions/ex06/lqr_pid_TODO_1.py b/solutions/ex06/lqr_pid_TODO_1.py
new file mode 100644
index 0000000..920d0e7
--- /dev/null
+++ b/solutions/ex06/lqr_pid_TODO_1.py
@@ -0,0 +1,3 @@
+ def pi(self,x, k, info=None):
+ action = self.L[0] @ x + self.l[0]
+ return action
\ No newline at end of file
diff --git a/solutions/ex06/lqr_pid_TODO_2.py b/solutions/ex06/lqr_pid_TODO_2.py
new file mode 100644
index 0000000..2f1ad2a
--- /dev/null
+++ b/solutions/ex06/lqr_pid_TODO_2.py
@@ -0,0 +1 @@
+ Kp, Kd = (-L0).flat
\ No newline at end of file
--
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