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 withinmake_step()
which wraps this method and sets the required values to thesim_x_num
andsim_p_num
structures automatically.Numerical values for
sim_x_num
andsim_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 - states
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