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data driven system identification

input:

log_2023_09_06-13_17_50-openloop.log

output:

A Good:
    [[ 2.82975412e-15  1.00000000e+00]
     [-9.80269531e-01  1.97873008e+00]]

B Good:
    [[1.84982170e-15]
     [6.72172757e-03]]

K from dLQR (with Q = [[1,0],[0,1]] = eye(2) and R = [[1]] = eye(1)):

K: 
    [[ 15.12857803 -16.25584753]]

troubleshooting

cannot create can controller

solution: https://gitlab.com/lely_industries/lely-core/-/issues/49

CAN=<can interface name>
BITRATE=<your can bitrate>
ip link set ${CAN} down
ip link set ${CAN} type can bitrate ${BITRATE}
ip link set ${CAN} txqueuelen 1000 #this is the solution :)
ip link set ${CAN} up