Class attribute.


Full structure of (symbolic) MHE parameters.

The attribute can be used to alter the objective function or constraints of the NLP.

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

# previously estimated state:
opt_p['_x_prev', _x_name]
# previously estimated parameters:
opt_p['_p_est_prev', _x_name]
# known parameters
opt_p['_p_set', _p_name]
# time-varying parameters:
opt_p['_tvp', time_step, _tvp_name]
# sequence of measurements:
opt_p['_y_meas', time_step, _y_name]

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.


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


The attribute is populated when calling setup() or create_nlp().

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