opt_p

Class attribute.

MPC.opt_p

Full structure of (symbolic) MPC parameters.

The attribute is a CasADi numeric structure with nested power indices. It can be indexed as follows:

# initial state:
opt_p['_x0', _x_name]
# uncertain scenario parameters
opt_p['_p', scenario, _p_name]
# time-varying parameters:
opt_p['_tvp', time_step, _tvp_name]
# input at time k-1:
opt_p['_u_prev', time_step, scenario]

The names refer to those given in the do_mpc.model.Model configuration. Further indices are possible, if the variables are itself vectors or matrices.

Warning

Do not tweak or overwrite this attribute unless you known what you are doing.

Note

The attribute is populated when calling setup() or prepare_nlp()

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