# make_step¶

Class method.

do_mpc.estimator.MHE.make_step(self, y0)

Main method of the class during runtime. This method is called at each timestep and returns the current state estimate for the current measurement y0.

The method prepares the MHE by setting the current parameters, calls solve() and updates the do_mpc.data.Data object.

Warning

Moving horizon estimation will only work reliably once a full sequence of measurements corresponding to the set horizon ist available.

Parameters: y0 (numpy.ndarray) – Current measurement. x0, estimated state of the system. numpy.ndarray