MPCPredictorMatrices

class do_dpc.dpc.mpc.MPCPredictorMatrices(Gamma, H_u)

Bases: DPCPredictorMatrices

Stores offline data for MPC controller.

The relationship is given by: y_f = Gamma x + H_u u_f

Here, Gamma is the extended observability matrix, i.e., Gamma * x represents the unforced response. H_u maps the future inputs to the future outputs.

Definitions: Gamma = [C; CA; CA^2; … CA^(tau_f-1)] H_u = [D 0 … 0; CB D … 0; CAB CB D … 0; …; CA^(tau_f-2)B … D]

Gamma

Extended observability matrix.

Type:

np.ndarray

H_u

Matrix mapping future inputs to future outputs.

Type:

np.ndarray

Methods

Attributes

Gamma

MPCPredictorMatrices.Gamma: ndarray

H_u

MPCPredictorMatrices.H_u: ndarray