opt_p_num¶
Class attribute.
-
MHE.
opt_p_num
¶ Full MHE parameter vector.
This attribute is used when calling the solver to pass all required parameters, including
- previously estimated state(s)
- previously estimated parameter(s)
- known parameters
- sequence of time-varying parameters
- sequence of measurements parameters
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:
# previously estimated state: opt_p_num['_x_prev', _x_name] # previously estimated parameters: opt_p_num['_p_est_prev', _x_name] # known parameters opt_p_num['_p_set', _p_name] # time-varying parameters: opt_p_num['_tvp', time_step, _tvp_name] # sequence of measurements: opt_p_num['_y_meas', time_step, _y_name]
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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