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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