TPCPredictorMatrices

TPCPredictorMatrices#

class do_dpc.dpc.tpc.TPCPredictorMatrices(H_u, H_p)[source]#

Bases: DPCPredictorMatrices

Stores predictor matrices used for future control inputs and past system states.

This class contains the matrices that are used to predict the future control inputs (H_u) and the past system states (H_p) for trajectory predictive control.

H_u#

Multistep predictor matrix for future control inputs.

Type:

np.ndarray

H_p#

Multistep predictor matrix for past system states.

Type:

np.ndarray

Methods#

Attributes#

H_u#

TPCPredictorMatrices.H_u: ndarray#

H_p#

TPCPredictorMatrices.H_p: ndarray#
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