Estimator

Estimator#

class Estimator(model)[source]#

Bases: IteratedVariables

The Estimator base class. Used for StateFeedback, EKF and MHE. This class cannot be used independently.

Note

The methods Estimator.set_initial_state() and Estimator.reset_history() are overwritten when using the MHE by the methods defined in do_mpc.optimizer.Optimizer.

Parameters:

model (Union[Model, LinearModel]) – model from class do_mpc.model

Methods#

reset_history#

reset_history(self)#

Reset the history of the estimator

Return type:

None

Attributes#

t0#

Estimator.t0#

Current time marker of the class. Use this property to set of query the time.

Set with int, float, numpy.ndarray or casadi.DM type.

u0#

Estimator.u0#

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

Example:

model = do_mpc.model.Model('continuous')
model.set_variable('_u','heating', shape=(4,1))

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

# Get or set current value of variable:
mpc.u0['heating', 0] # 0th element of variable
mpc.u0['heating']    # all elements of variable
mpc.u0['heating', 0:2]    # 0th and 1st element

Useful CasADi symbolic structure methods:

  • .shape

  • .keys()

  • .labels()

x0#

Estimator.x0#

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

Example:

model = do_mpc.model.Model('continuous')
model.set_variable('_x','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.x0['temperature', 0] # 0th element of variable
mpc.x0['temperature']    # all elements of variable
mpc.x0['temperature', 0:2]    # 0th and 1st element

Useful CasADi symbolic structure methods:

  • .shape

  • .keys()

  • .labels()

z0#

Estimator.z0#

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.

Example:

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

Useful CasADi symbolic structure methods:

  • .shape

  • .keys()

  • .labels()

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