From 2976ead4449f9f736f46ddd869ea73cd2f874a46 Mon Sep 17 00:00:00 2001
From: Andrea1Coco <andrea.coco@skywarder.eu>
Date: Wed, 6 Dec 2023 23:30:02 +0100
Subject: [PATCH] gain migliori

---
 commonFunctions/control/control_MRAC.m | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/commonFunctions/control/control_MRAC.m b/commonFunctions/control/control_MRAC.m
index 371e1073..0e1fb7f8 100644
--- a/commonFunctions/control/control_MRAC.m
+++ b/commonFunctions/control/control_MRAC.m
@@ -93,8 +93,8 @@ end
 %% 
 % control action
  % alpha_rad =  K_x'*[z vz]' + K_r*r  - Theta*phi;
-K = 0.01*[5 0.5];
-alpha_rad = Theta * (K*e);
+K = 0.5*[10 0.5];
+alpha_rad = 1/Theta * (K*e);
  % u =  K_x'*[z vz]'   - Theta*phi;
 
 % translated in servo angle
-- 
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