terminal_bounds¶

Class attribute.

MPC.terminal_bounds

Query and set the terminal bounds for the states. The terminal_bounds() method is an indexed property, meaning getting and setting this property requires an index and calls this function. The power index (elements are seperated by comas) must contain atleast the following elements:

order index name valid options
1 bound type lower and upper
2 variable name Names defined in do_mpc.model.Model.

Further indices are possible (but not neccessary) when the referenced variable is a vector or matrix.

Example:

# Set with:
optimizer.terminal_bounds['lower', 'phi_1'] = -2*np.pi
optimizer.terminal_bounds['upper', 'phi_1'] = 2*np.pi

# Query with:
optimizer.terminal_bounds['lower', 'phi_1']