64 lines
1.5 KiB
Markdown
64 lines
1.5 KiB
Markdown
# Model Predictive Control Tool
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This program is about template, function of linear model predictive control
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# Documentation of this function
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Linear model predicitive control should have state equation.
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So if you want to use this function, you should model the plant as state equation.
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Therefore, the parameters of this class are as following
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Parameters :
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- A : numpy.ndarray
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- system matrix
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- B : numpy.ndarray
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- input matrix
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- Q : numpy.ndarray
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- evaluation function weight
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- R : numpy.ndarray
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- evaluation function weight
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- pre_step : int
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- prediction step
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- dt_input_upper : numpy.ndarray
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- constraints of input dt
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- dt_input_lower : numpy.ndarray
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- constraints of input dt
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- input_upper : numpy.ndarray
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- constraints of input
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- input_lower : numpy.ndarray
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- constraints of input
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We have two function, mpc_func_with_cvxopt.py and mpc_func_with_scipy.py
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Both function have same variable and member function. however the solver is different.
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Plese choose the right method for your environment
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## Example
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# Problem Formulation and Expected results
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- updating soon!!
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# Usage
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- for example
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```
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$ python main_example.py
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```
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- for comparing two methods
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```
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$ python test_compare_methods.py
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```
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# Requirement
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- python3.5 or more
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- numpy
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- matplotlib
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- cvxopt
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- scipy1.2.0 or more
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# Reference
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I`m sorry that main references are written in Japanese
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- モデル予測制御―制約のもとでの最適制御 著：Jan M. Maciejowski 訳：足立修一 東京電機大学出版局 |