More solutions files

solutions/ex06/boeing_lqr_TODO_1.py

+    Q, R, q = compute_Q_R_q(model, dt) 
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solutions/ex06/boeing_lqr_TODO_2.py

+    agent = LQRAgent(env, A=A, B=B, d=d, Q=Q, R=R, q=q) 
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solutions/ex06/boeing_lqr_TODO_3.py

+    Q = cost.Q * dt 
+    R = cost.R * dt
+    q = cost.q * dt 
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solutions/ex06/boeing_lqr_TODO_4.py

+    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 
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solutions/ex06/dlqr_TODO_1.py

+import matplotlib  
+matplotlib.use('agg') 
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solutions/ex06/dlqr_TODO_2.py

+    V[N], v[N], vc[N] = QN, qN, qcN 
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solutions/ex06/dlqr_TODO_3.py

+        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) 
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solutions/ex06/lqr_agent_TODO_1.py

+        (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) 
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solutions/ex06/lqr_agent_TODO_2.py

+        u = self.L[k] @ x + self.l[k]  
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solutions/ex06/lqr_pid_TODO_1.py

+    def pi(self,x, k, info=None): 
+        action = self.L[0] @ x + self.l[0]
+        return action 
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solutions/ex06/lqr_pid_TODO_2.py

+    Kp, Kd = (-L0).flat  
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