SPCPredictorMatrices

class do_dpc.dpc.spc.SPCPredictorMatrices(S, S_u, S_p)

Bases: DPCPredictorMatrices

Stores precomputed offline data for Subspace Predictive Control (SPC).

This data is used to predict future outputs based on past measurements and control inputs.

y_f = S [z_p u_f]^T or equivalently, y_f = S_p z_p + S_u u_f

S

The full subspace predictor matrix.

Type:

np.ndarray

S_p

The predictor matrix associated with past measurements (z_p).

Type:

np.ndarray

S_u

The predictor matrix associated with control inputs (u_f).

Type:

np.ndarray

Methods

Attributes

S

SPCPredictorMatrices.S: ndarray

S_u

SPCPredictorMatrices.S_u: ndarray

S_p

SPCPredictorMatrices.S_p: ndarray