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()
andset_p_fun()
. - Set time-varying parameter function with
get_tvp_template()
andset_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 processw
and measurement noisev
(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. - Set parameters with
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