Simulator¶

class do_mpc.simulator.Simulator(model)[source]¶

A class for simulating systems. Discrete-time and continuous systems can be considered.

do-mpc uses the CasADi interface to popular state-of-the-art tools such as Sundials CVODES for the integration of ODE/DAE equations.

Configuration and setup:

Configuring and setting up the simulator involves the following steps:

Set parameters with set_param(), e.g. the sampling time.
Set parameter function with get_p_template() and set_p_fun().
Set time-varying parameter function with get_tvp_template() and set_tvp_fun().
Setup simulator with setup().

During runtime, call the simulator make_step() method with current input (u). This computes the next state of the system and the respective measurement. Optionally, pass (sampled) random variables for the process w and measurement noise v (if they were defined in :py:class`do_mpc.model.Model`)

Attributes

`Simulator.t0`	Current time marker of the class.
`Simulator.u0`	Initial input and current iterate.
`Simulator.x0`	Initial state and current iterate.
`Simulator.z0`	Initial algebraic state and current iterate.

Methods

`Simulator.get_p_template`	Obtain output template for `set_p_fun()`.
`Simulator.get_tvp_template`	Obtain the output template for `set_tvp_fun()`.
`Simulator.make_step`	Main method of the simulator class during control runtime.
`Simulator.reset_history`	Reset the history of the simulator.
`Simulator.set_initial_guess`	Initial guess for DAE variables.
`Simulator.set_p_fun`	Method to set the function which gives the values of the parameters.
`Simulator.set_param`	Set the parameters for the simulator.
`Simulator.set_tvp_fun`	Method to set the function which returns the values of the time-varying parameters.
`Simulator.setup`	Sets up the simulator and finalizes the simulator configuration.
`Simulator.simulate`	Call the CasADi simulator.

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