opt_p_num¶
Class attribute.
-
MPC.
opt_p_num
¶ Full MPC parameter vector.
This attribute is used when calling the MPC solver to pass all required parameters, including
- initial state
- uncertain scenario parameters
- time-varying parameters
- previous input sequence
do-mpc handles setting these parameters automatically in the
make_step()
method. However, you can set these values manually and directly callsolve()
.The attribute is a CasADi numeric structure with nested power indices. It can be indexed as follows:
# initial state: opt_p_num['_x0', _x_name] # uncertain scenario parameters opt_p_num['_p', scenario, _p_name] # time-varying parameters: opt_p_num['_tvp', time_step, _tvp_name] # input at time k-1: opt_p_num['_u_prev', time_step, scenario]
The names refer to those given in the
do_mpc.model.Model
configuration. Further indices are possible, if the variables are itself vectors or matrices.Warning
Do not tweak or overwrite this attribute unless you known what you are doing.
Note
The attribute is populated when calling
setup()
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