simulate

Class method.

do_mpc.simulator.Simulator.simulate(self)

Call the CasADi simulator.

Warning

simulate() can be used as part of the public API but is typically called from within make_step() which wraps this method and sets the required values to the sim_x_num and sim_p_num structures automatically.

Numerical values for sim_x_num and sim_p_num need to be provided beforehand in order to simulate the system for one time step:

• states sim_c_num['_x']
• algebraic states sim_z_num['_z']
• inputs sim_p_num['_u']
• parameter sim_p_num['_p']
• time-varying parameters sim_p_num['_tvp']

The function returns the new state of the system.

Returns:x_new Return type:numpy array

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