LQRSettings#
- class LQRSettings(t_step=None, n_horizon=None)[source]#
Bases:
ControllerSettings
Settings for
do_mpc.controller.LQR
.The
do_mpc.controller.LQR
automatically creates an instance of typeLQRSettings
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 (
Optional
[float
]) –n_horizon (
Optional
[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