Improved the Vertical takeoff and landing aircraft notebook #390
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Also replaced hardcoded image with latex code.
Notebook used to say "Since the python-control package only supports SISO systems, in order to compute the closed loop dynamics, we must extract the dynamics for the lateral and altitude dynamics as individual systems." This is not true anymore. So I simplified the code. Also added explanations as to what the code is doing and fixed some typos.
bnavigator
reviewed
May 17, 2020
examples/pvtol-lqr-nested.ipynb
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| { | ||
| "cell_type": "code", | ||
| "execution_count": 2, | ||
| "metadata": {}, | ||
| "outputs": [ | ||
| { | ||
| "name": "stdout", | ||
| "output_type": "stream", | ||
| "text": [ | ||
| "m = 4.000000\n", | ||
| "J = 0.047500\n", | ||
| "r = 0.250000\n", | ||
| "g = 9.800000\n", | ||
| "c = 0.050000\n" | ||
| ] | ||
| } | ||
| ], | ||
| "execution_count": null, | ||
| "metadata": {}, | ||
| "outputs": [], |
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You should xecute the notebook, so that the checked in version can be viewed completely on github.
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https://github.com/python-control/python-control/blob/master/examples/pvtol-lqr-nested.ipynb
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I sent a PR with the requested fixes. |
add plots + remove some unneeded outputs
repagh
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Jun 9, 2020
…ontrol#390) * Fixed typo in PVTOL notebook (forgot to divide by m). Also replaced hardcoded image with latex code. * Removed a lot of the unnecessary decoupling code. Notebook used to say "Since the python-control package only supports SISO systems, in order to compute the closed loop dynamics, we must extract the dynamics for the lateral and altitude dynamics as individual systems." This is not true anymore. So I simplified the code. Also added explanations as to what the code is doing and fixed some typos.
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The PVTOL notebook contained some typos and mistakes.
I only changed the first part ("System Description" and "LQR state feedback controller" sections. Didn't touch the "Lateral control using inner/outer loop design" section).
I changed some of the hardcoded images to latex code instead.
I cleaned up the code (some of which was unnecessary and confusing) and added more explanations where I deemed necessary.
Everything is working on my machine, but let me know if I introduced some bugs (for example I noticed I changed the kernel python version in my first commit), or if you are unhappy with some of the changes I made.