===== FULL STATE FEEDBACK WITH LQR =====

This page present a full derivation for a Full State Feedback with LQR controller. [[lego_rip_modeling|Recall all the RIP dynamics derivation in the Modeling Page]] . 

**You can find the Matlab Script to run the [K] matrix calculation here **
{{:rip_kit.rar|}}

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{{ ::rip_der_sim10.jpg |}}
{{ ::rip_der_sim11.jpg |}}
{{ ::rip_der_sim12.jpg |}}
{{ ::rip_der_sim13.jpg |}}