Class attribute.


Initial algebraic state and current iterate. This is the numerical structure holding the information about the current algebraic states in the class. The property can be indexed according to the model definition.


model = do_mpc.model.Model('continuous')
model.set_variable('_z','temperature', shape=(4,1))

mhe = do_mpc.estimator.MHE(model)
# or
mpc = do_mpc.estimator.MPC(model)

# Get or set current value of variable:
mpc.z0['temperature', 0] # 0th element of variable
mpc.z0['temperature']    # all elements of variable
mpc.z0['temperature', 0:2]    # 0th and 1st element

Usefull CasADi symbolic structure methods:

  • .shape
  • .keys()
  • .labels()

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