GammaDDPCPredictorMatrices#
- class do_dpc.dpc.gamma_ddpc.GammaDDPCPredictorMatrices(pinv_L_11, L_2_3, L_21, L_22, L_31, L_32)[source]#
Bases:
DPCPredictorMatrices” Stores predictor matrices for the gamma-DPC controller.
The LQ decomposition of the Hankel Matrix is represented as:
\[\begin{split}L = \begin{pmatrix} L_{11} & 0 & 0 \\ L_{21} & L_{22} & 0 \\ L_{31} & L_{32} & L_{33} \end{pmatrix}\end{split}\]and the concatenated matrix \(L_{2,3}\) is:
\[\begin{split}L_{2,3} = \begin{pmatrix} L_{21} & L_{22} \\ L_{31} & L_{32} \end{pmatrix}\end{split}\]- pinv_L_11#
Pseudo-inverse of \(L_{11}\).
- Type:
np.ndarray
- L_2_3#
Concatenated matrix from \(L_{21}, L_{22}, L_{31}, L_{32}\).
- Type:
np.ndarray
- L_21#
Part of \(L\) representing \(\gamma_1\) and \(U_f\).
- Type:
np.ndarray
- L_22#
Part of \(L\) representing \(\gamma_2\) and \(U_f\).
- Type:
np.ndarray
- L_31#
Part of \(L\) representing \(\gamma_1\) and \(Y_f\).
- Type:
np.ndarray
- L_32#
Part of \(L\) representing \(\gamma_2\) and \(Y_f\).
- Type:
np.ndarray
Methods#
Attributes#
pinv_L_11#
-
GammaDDPCPredictorMatrices.pinv_L_11:
ndarray#
L_2_3#
-
GammaDDPCPredictorMatrices.L_2_3:
ndarray#
L_21#
-
GammaDDPCPredictorMatrices.L_21:
ndarray#
L_22#
-
GammaDDPCPredictorMatrices.L_22:
ndarray#
L_31#
-
GammaDDPCPredictorMatrices.L_31:
ndarray#
L_32#
-
GammaDDPCPredictorMatrices.L_32:
ndarray#