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add control-design tutorial (#114)
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* add control-design tutorial

* add WIP linearization to quadrotor

* add swingup

improve energy formulation

* add lqr to quad

rename subsys

remove broken example

* add LQR example to quadrotor

* avoid singularity in linearization

* up tutorial

* compute fewer senstivity functions (compile time is very high)

* up docs manifest

* improve state selection

* tweak initial operating point

* disable part of tutorial waiting for fix in JSC
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@baggepinnen
baggepinnen authored Sep 26, 2024
1 parent 1fac8e3 commit a635266
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140 changes: 126 additions & 14 deletions docs/Manifest.toml
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Expand Up @@ -2,12 +2,12 @@

julia_version = "1.10.5"
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project_hash = "08003e42b5c1441ed313cb0f744985213930fbba"

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Expand Down Expand Up @@ -331,6 +331,36 @@ deps = ["Artifacts", "Libdl"]
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Expand Down Expand Up @@ -372,6 +402,25 @@ git-tree-sha1 = "439e35b0b36e2e5881738abc8857bd92ad6ff9a8"
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Expand All @@ -389,6 +438,12 @@ git-tree-sha1 = "249fe38abf76d48563e2f4556bebd215aa317e15"
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Expand Down Expand Up @@ -446,6 +501,12 @@ git-tree-sha1 = "9e2f36d3c96a820c678f2f1f1782582fcf685bae"
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Expand Down Expand Up @@ -568,9 +629,9 @@ uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"

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Expand Down Expand Up @@ -1176,9 +1237,9 @@ version = "0.1.5"

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Expand Down Expand Up @@ -1428,6 +1489,18 @@ version = "7.3.0"
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Expand Down Expand Up @@ -1556,6 +1629,18 @@ git-tree-sha1 = "e1641f32ae592e415e3dbae7f4a188b5316d4b62"
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Expand Down Expand Up @@ -1618,8 +1703,6 @@ version = "9.41.0"
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Expand All @@ -1629,6 +1712,16 @@ git-tree-sha1 = "b76ea40b5c0f45790ae09492712dd326208c28b2"
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Expand All @@ -1646,7 +1739,7 @@ version = "0.2.4"

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Expand Down Expand Up @@ -2130,6 +2223,19 @@ git-tree-sha1 = "77b3d3605fc1cd0b42d95eba87dfcd2bf67d5ff6"
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Expand Down Expand Up @@ -2361,6 +2467,12 @@ git-tree-sha1 = "58cdd8fb2201a6267e1db87ff148dd6c1dbd8ad8"
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Expand Down Expand Up @@ -2693,9 +2805,9 @@ version = "7.2.1+1"

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Expand Down Expand Up @@ -3087,9 +3199,9 @@ version = "1.2.13+1"

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Expand Down
3 changes: 3 additions & 0 deletions docs/Project.toml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
[deps]
ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
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Expand All @@ -8,3 +10,4 @@ ModelingToolkitStandardLibrary = "16a59e39-deab-5bd0-87e4-056b12336739"
Multibody = "e1cad5d1-98ef-44f9-a79a-9ca4547f95b9"
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RobustAndOptimalControl = "21fd56a4-db03-40ee-82ee-a87907bee541"
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