TPCHelperMatrices

class do_dpc.dpc.tpc.TPCHelperMatrices(W, L, Phi_P, Phi_U)

Bases: object

Stores helper matrices used in the trajectory predictive control (TPC) calculations.

This class holds matrices such as W (used for observability properties), L (the LQ decomposition matrix), and the matrices related to system dynamics (Phi_P, Phi_U).

W

Matrix used for system observability properties.

Type:

np.ndarray

L

Matrix from the LQ decomposition.

Type:

np.ndarray

Phi_P

Portion of the Phi matrix corresponding to past inputs & outputs.

Type:

np.ndarray

Phi_U

Portion of the Phi matrix corresponding to future inputs.

Type:

np.ndarray

Methods

Attributes

W

TPCHelperMatrices.W: ndarray

L

TPCHelperMatrices.L: ndarray

Phi_P

TPCHelperMatrices.Phi_P: ndarray

Phi_U

TPCHelperMatrices.Phi_U: ndarray