TPCRegularizationMatrices#
- class do_dpc.dpc.tpc.TPCRegularizationMatrices(Lambda_uu, Lambda_uz, Lambda_uy)[source]#
Bases:
DPCRegularizationMatricesStores regularization matrices for control inputs, states, and reference outputs.
This class contains the regularization matrices used in the trajectory predictive control to penalize the control inputs (Lambda_uu), the coupling between control inputs and past states (Lambda_uz), and the coupling between control inputs and reference outputs (Lambda_uy).
- Lambda_uu#
Regularization matrix for control inputs.
- Type:
np.ndarray
- Lambda_uz#
Regularization matrix coupling control inputs and past states.
- Type:
np.ndarray
- Lambda_uy#
Regularization matrix coupling control inputs and reference outputs.
- Type:
np.ndarray
Methods#
Attributes#
Lambda_uu#
-
TPCRegularizationMatrices.Lambda_uu:
ndarray#
Lambda_uz#
-
TPCRegularizationMatrices.Lambda_uz:
ndarray#
Lambda_uy#
-
TPCRegularizationMatrices.Lambda_uy:
ndarray#