How To Use The LQR Controller

Usage:

lqrcon LQRNumSamples LQRNumIterations xtarget utarget

LQRNumSamples: The number of samples used to linearize

the state and action spaces. Default: 20

LQRNumIterations: The maximum number of backsteps

allowed in calculating the control laws. Default: 20

xtarget: The final state target. The default is a correctly sized

zero matrix

utarget: The final action target. The default is a correctly sized

zero matrix

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It is probably worthwhile to check the nrdp-executable-guidelines.txt

since these parameters may have changed.