DPCParameters

DPCParameters#

class do_dpc.dpc.dpc_structs.DPCParameters(Q, R, tau_p, tau_f, Q_final=None, R_final=None, R_delta=None, R_delta_first=None)[source]#

Bases: object

Stores parameters for a data-driven predictive controller.

Q#

State weighting matrix for the cost function (shape (p, p)).

Type:

np.ndarray

R#

Control input weighting matrix for the cost function (shape (m, m)).

Type:

np.ndarray

tau_p#

Initial time horizon for past data.

Type:

int

tau_f#

Future time horizon for predictions.

Type:

int

Q_horizon#

Block-diagonal matrix of Q repeated for tau_f steps.

Type:

np.ndarray

R_horizon#

Block-diagonal matrix of R repeated for tau_f steps.

Type:

np.ndarray

Q_final#

Final state cost. If None, same as Q (shape (p, p)).

Type:

Optional[np.ndarray]

R_final#

Final input cost. If None, same as R (shape (m, m)).

Type:

Optional[np.ndarray]

R_delta#

Weight cost for the Delta u_f (Change in control input) (shape (m, m)).

Type:

Optional[np.ndarray]

R_delta_first#

Weight cost for u_p(0)-u_f(0) (Change in control input) (shape (m, m)).

Type:

Optional[np.ndarray]

Note

If R_delta_first is None but R_delta is provided, R_delta will be used as the first value.

Raises:

  • ValueError – If tau_p or tau_f are not positive integers.

  • ValueError – If Q or R are not square matrices of expected shape.

  • ValueError – If R_final, R_delta_first, R_delta do not have the same shape as R.

  • ValueError – If Q_final does not have the same shape as Q.

  • ValueError – If Q, Q_final is not positive semidefinite.

  • ValueError – If R, R_final, R_delta, R_delta_first` is not positive definite.

Methods#

Attributes#

Q_final#

DPCParameters.Q_final: Optional[ndarray] = None#

R_delta#

DPCParameters.R_delta: Optional[ndarray] = None#

R_delta_first#

DPCParameters.R_delta_first: Optional[ndarray] = None#

R_final#

DPCParameters.R_final: Optional[ndarray] = None#

Q#

DPCParameters.Q: ndarray#

R#

DPCParameters.R: ndarray#

tau_p#

DPCParameters.tau_p: int#

tau_f#

DPCParameters.tau_f: int#

Q_horizon#

DPCParameters.Q_horizon: ndarray#

R_horizon#

DPCParameters.R_horizon: ndarray#

R_delta_horizon#

DPCParameters.R_delta_horizon: Optional[ndarray]#
Contents