make_step(self, u0, v0=None, w0=None)¶
Main method of the simulator class during control runtime. This method is called at each timestep and computes the next state or the current control input
u0. The method returns the resulting measurement, as defined in
The initial state
x0is stored as a class attribute. Use this attribute
x0to change the initial state. It is also possible to supply an initial guess for the algebraic states through the attribute
z0and by calling
Finally, the method can be called with values for the process noise
w0and the measurement noise
v0that were (optionally) defined in the
do_mpc.model.Model. Typically, these values should be sampled from a random distribution, e.g.
np.random.randnfor a random normal distribution.
The method prepares the simulator by setting the current parameters, calls
simulator.simulate()and updates the
- u0 (numpy.ndarray) – Current input to the system.
- v0 (numpy.ndarray (optional)) – Additive measurement noise
- w0 (numpy.ndarray (optional)) – Additive process noise
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