LQRSettings

class LQRSettings(t_step=None, n_horizon=None)

Bases: ControllerSettings

Settings for do_mpc.controller.LQR.

The do_mpc.controller.LQR automatically creates an instance of type LQRSettings and adds it to its class attributes.

Example to change settings:

lqr.settings.n_horizon = 20

Note

Settings cannot be updated after calling do_mpc.controller.LQR.setup().

Parameters:

• t_step (float)

• n_horizon (int)

Methods

check_for_mandatory_settings

check_for_mandatory_settings(self)

Method to assert the necessary settings required to design do_mpc.controller

Attributes

n_horizon

LQRSettings.n_horizon: int = None

Prediction horizon of the optimal control problem. Defaults to None, which represents an infinite horizon.

t_step

LQRSettings.t_step: float = None

Timestep of the controller