scaling

Class attribute.

MHE.scaling

Query and set scaling of the optimization variables. The Optimizer.scaling() method is an indexed property, meaning getting and setting this property requires an index and calls this function. The power index (elements are seperated by comas) must contain atleast the following elements:

order	index name	valid options
1	variable type	_x, _u and _z (and _p_est for MHE)
2	variable name	Names defined in do_mpc.model.Model.

Further indices are possible (but not neccessary) when the referenced variable is a vector or matrix.

Example:

# Set with:
optimizer.scaling['_x', 'phi_1'] = 2
optimizer.scaling['_x', 'phi_2'] = 2

# Query with:
optimizer.scaling['_x', 'phi_1']

Note

Scaling the optimization problem is suggested when states and / or inputs take on values which differ by orders of magnitude.

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