get_tvp_template

Class method.

do_mpc.controller.MPC.get_tvp_template(self)

Obtain output template for set_tvp_fun().

The method returns a structured object with n_horizon elements, and a set of time-varying parameters (as defined in do_mpc.model.Model) for each of these instances. The structure is initialized with all zeros. Use this object to define values of the time-varying parameters.

This structure (with numerical values) should be used as the output of the tvp_fun function which is set to the class with set_tvp_fun(). Use the combination of get_tvp_template() and set_tvp_fun().

Example:

# in model definition:
alpha = model.set_variable(var_type='_tvp', var_name='alpha')
beta = model.set_variable(var_type='_tvp', var_name='beta')

...
# in optimizer configuration:
tvp_temp_1 = optimizer.get_tvp_template()
tvp_temp_1['_tvp', :] = np.array([1,1])

tvp_temp_2 = optimizer.get_tvp_template()
tvp_temp_2['_tvp', :] = np.array([0,0])

def tvp_fun(t_now):
    if t_now<10:
        return tvp_temp_1
    else:
        tvp_temp_2

optimizer.set_tvp_fun(tvp_fun)

Returns:None Return type:None

This page is auto-generated. Page source is not available on Github.