Optimizer¶

class do_mpc.optimizer.Optimizer[source]¶

The base clase for the optimization based state estimation (MHE) and predictive controller (MPC). This class establishes the jointly used attributes, methods and properties.

Warning

The Optimizer base class can not be used independently.

Attributes

`Optimizer.bounds`	Query and set bounds of the optimization variables.
`Optimizer.nlp_cons`	Query and modify (symbolically) the NLP constraints.
`Optimizer.nlp_cons_lb`	Query and modify the lower bounds of the `nlp_cons`.
`Optimizer.nlp_cons_ub`	Query and modify the upper bounds of the `nlp_cons`.
`Optimizer.nlp_obj`	Query and modify (symbolically) the NLP objective function.
`Optimizer.scaling`	Query and set scaling of the optimization variables.

Methods

`Optimizer.create_nlp`	Create the optimization problem.
`Optimizer.get_tvp_template`	Obtain output template for `set_tvp_fun()`.
`Optimizer.prepare_nlp`	Prepare the optimization problem.
`Optimizer.reset_history`	Reset the history of the optimizer.
`Optimizer.set_nl_cons`	Introduce new constraint to the class.
`Optimizer.set_tvp_fun`	Set function which returns time-varying parameters.
`Optimizer.solve`	Solves the optmization problem.

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