v

Class attribute.

Model.v

Measurement noise. CasADi symbolic structure, can be indexed with user-defined variable names.

The measurement noise structure is created automatically, whenever the Model.set_meas() method is called with the argument meas_noise = True.

Note

The measurement noise is used for the do_mpc.estimator.MHE and can be used to simulate a disturbed system in the do_mpc.simulator.Simulator.

Usefull CasADi symbolic structure methods:

• .shape
• .keys()
• .labels()

Raises:assertion – Cannot set v direcly.

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