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[wpimath] Add RamseteController comparison to LTV controller docs (NFC) (#5559)

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Tyler Veness
2023-08-24 00:04:54 -07:00
committed by GitHub
parent b3ef536677
commit 7889b35b67
4 changed files with 31 additions and 10 deletions
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7
wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
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@@ -20,8 +20,11 @@ namespace frc {
/**
* The linear time-varying unicycle controller has a similar form to the LQR,
* but the model used to compute the controller gain is the nonlinear model
* linearized around the drivetrain's current state.
* but the model used to compute the controller gain is the nonlinear unicycle
* model linearized around the drivetrain's current state.
*
* This controller is a roughly drop-in replacement for RamseteController with
* more optimal feedback gains in the "least-squares error" sense.
*
* See section 8.9 in Controls Engineering in FRC for a derivation of the
* control law we used shown in theorem 8.9.1.