MPCClosedFormSolutionMatrices

MPCClosedFormSolutionMatrices#

class do_dpc.dpc.mpc.MPCClosedFormSolutionMatrices(K_x, K_y_r, K_u_r)[source]#

Bases: object

Stores closed-form gains for the MPC (Linear Quadratic Gaussian) controller.

K_x#

State feedback gain matrix.

Type:

np.ndarray

K_y_r#

Output reference gain matrix.

Type:

np.ndarray

K_u_r#

Control input reference gain matrix.

Type:

np.ndarray

Methods#

Attributes#

K_x#

MPCClosedFormSolutionMatrices.K_x: ndarray#

K_y_r#

MPCClosedFormSolutionMatrices.K_y_r: ndarray#

K_u_r#

MPCClosedFormSolutionMatrices.K_u_r: ndarray#
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