make_step

Class method.

do_mpc.controller.MPC.make_step(self, x0)

Main method of the class during runtime. This method is called at each timestep and returns the control input for the current initial state x0.

The method prepares the MHE by setting the current parameters, calls solve() and updates the do_mpc.data.Data object.

Parameters:x0 (numpy.ndarray or casadi.DM) – Current state of the system. Returns:u0 Return type:numpy.ndarray

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