ApproximateMPCSettings

ApproximateMPCSettings#

class ApproximateMPCSettings(n_hidden_layers=3, n_neurons=50, act_fn='tanh', output_act_fn='linear', device='auto', scaling=True, lbx=None, ubx=None, lbu=None, ubu=None)[source]#

Bases: object

Settings for do_mpc.approximateMPC.ApproxMPC.

This class contains the mandatory settings for Approximate MPC int do_mpc.approximateMPC.ApproxMPC. This class creates an instance of type ApproximateMPCSettings and adds it to its class attributes.

Parameters:

  • n_hidden_layers (int)

  • n_neurons (int)

  • act_fn (str)

  • output_act_fn (str)

  • device (str)

  • scaling (bool)

  • lbx (list)

  • ubx (list)

  • lbu (list)

  • ubu (list)

Methods#

Attributes#

act_fn#

ApproximateMPCSettings.act_fn: str = 'tanh'#

Activation function used after each layer

device#

ApproximateMPCSettings.device: str = 'auto'#

Type of device used. Can be auto, cuda or cpu

lbu#

ApproximateMPCSettings.lbu: list = None#

Lower bound for the control variables

lbx#

ApproximateMPCSettings.lbx: list = None#

Lower bound for the state variables

n_hidden_layers#

ApproximateMPCSettings.n_hidden_layers: int = 3#

Number of hidden layers

n_neurons#

ApproximateMPCSettings.n_neurons: int = 50#

Number of neurons per hidden layer

output_act_fn#

ApproximateMPCSettings.output_act_fn: str = 'linear'#

Output type

scaling#

ApproximateMPCSettings.scaling: bool = True#

Decides whether the state and control variables are scaled or not

ubu#

ApproximateMPCSettings.ubu: list = None#

Upper bound for the control variables

ubx#

ApproximateMPCSettings.ubx: list = None#

Upper bound for the state variables

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