Class attribute.


Full MHE parameter vector.

This attribute is used when calling the solver to pass all required parameters, including

  • previously estimated state(s)
  • previously estimated parameter(s)
  • known parameters
  • sequence of time-varying parameters
  • sequence of measurements parameters

do-mpc handles setting these parameters automatically in the make_step() method. However, you can set these values manually and directly call solve().

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

# previously estimated state:
opt_p_num['_x_prev', _x_name]
# previously estimated parameters:
opt_p_num['_p_est_prev', _x_name]
# known parameters
opt_p_num['_p_set', _p_name]
# time-varying parameters:
opt_p_num['_tvp', time_step, _tvp_name]
# sequence of measurements:
opt_p_num['_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()

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