Matrix-Scheduling of QSR-Dissipative Systems

Accompanying code for the control of the planar rigid three-link robotic manipulator used in Section VI of Matrix-Scheduling of QSR-Dissipative Systems.

Required License

The LMI solver used along CVXPY is MOSEK, which requires a license to use. A personal academic license can be requested here.

Installation

To clone the repository, run

$ git clone git@github.com:decargroup/matrix_scheduling_qsr_dissipative_systems.git

To install all the required dependencies for this project, run

$ cd matrix_scheduling_qsr_dissipative_systems
$ pip install -r ./requirements.txt

Usage

To generate Figures 6-9 in the paper, run

$ python main.py

The plots can be saved to ./Figures by running

$ python main.py --savefig