Class attribute.


Process noise. CasADi symbolic structure, can be indexed with user-defined variable names.

The process noise structure is created automatically, whenever the Model.set_rhs() method is called with the argument process_noise = True.


The process noise is used for the do_mpc.estimator.MHE and can be used to simulate a disturbed system in the do_mpc.simulator.Simulator.

Useful CasADi symbolic structure methods:

  • .shape
  • .keys()
  • .labels()
Raises:assertion – Cannot set w directly

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