make_step

Class method.

do_mpc.simulator.Simulator.make_step(self, u0, x0=None, z0=None, 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 do_mpc.model.Model.set_meas.

The initial state x0 is stored as a class attribute but can optionally be supplied. The algebraic states z0 can also be supplied, if they are defined in the model but are only used as an intial guess.

Finally, the method can be called with values for the process noise w0 and the measurement noise v0 that were (optionally) defined in the do_mpc.model.Model. Typically, these values should be sampled from a random distribution, e.g. np.random.randn for a random normal distribution.

The method prepares the simulator by setting the current parameters, calls simulator.simulate() and updates the do_mpc.data object.

Parameters:
  • u0 (numpy.ndarray) – Current input to the system.
  • x0 (numpy.ndarray (optional)) – Current state of the system.
  • z0 (numpy.ndarray (optional)) – Initial guess for current algebraic states
  • v0 (numpy.ndarray (optional)) – Additive measurement noise
  • w0 (numpy.ndarray (optional)) – Additive process noise
Returns:

x_nsext
Return type:

numpy.ndarray

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