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 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