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Examples.LinearMPCStandaloneExample.md

Examples.LinearMPCStandaloneExample ​

The escape hatch: a controller built with the LinearMPC.jl API in Julia (build_standalone_mpc_example, with two general constraint blocks that differ in horizon and softness and no observer) is passed to LinearMPCOptimizer, which is used as a state-feedback MPC around a double integrator.

Usage ​

MPCComponents.Examples.LinearMPCStandaloneExample()

Parameters: ​

NameDescriptionUnitsDefault value
ctrlHand-built LinearMPC.jl controller–build_stand...c_example()

Variables ​

NameDescriptionUnits
y1Position–
u1Control signal–

Behavior ​

Behavior of this component cannot be rendered because it includes path variables.

Source ​

dyad
"""
The escape hatch: a controller built with the LinearMPC.jl API in Julia
(`build_standalone_mpc_example`, with two general constraint blocks that differ in horizon and
softness and no observer) is passed to `LinearMPCOptimizer`, which is used as a state-feedback
MPC around a double integrator.
"""
example component LinearMPCStandaloneExample
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.1) {}
  vel = BlockComponents.Continuous.Integrator(x0 = 0.0) {}
  pos = BlockComponents.Continuous.Integrator(x0 = 1.0) {}
  s1 = DiscreteComponents.Sampler() {}
  s2 = DiscreteComponents.Sampler() {}
  sr = DiscreteComponents.Sampler() {}
  zoh = DiscreteComponents.ZeroOrderHold() {}
  ref = BlockComponents.Sources.Step(start_time = 2.0, height = -1.0) {}
  mpc = MPCComponents.LinearMPCOptimizer(mpc = ctrl) {}
  "Hand-built LinearMPC.jl controller"
  structural parameter ctrl::MPCComponents.MPCRef = build_standalone_mpc_example()
  "Position"
  variable y1::Real
  "Control signal"
  variable u1::Real
relations
  y1 = pos.y
  u1 = mpc.u[1]
  connect(zoh.y, vel.u)
  connect(vel.y, pos.u, s2.u)
  connect(pos.y, s1.u)
  connect(s1.y, mpc.xhat[1], periodicclock.y)
  connect(s2.y, mpc.xhat[2])
  connect(ref.y, sr.u)
  connect(sr.y, mpc.r[1])
  connect(mpc.u[1], zoh.u)
metadata {"Dyad": {"tests": {"case1": {"stop": 5}}, "doc": {"behavior": false}}}
end
Flattened Source
dyad
"""
The escape hatch: a controller built with the LinearMPC.jl API in Julia
(`build_standalone_mpc_example`, with two general constraint blocks that differ in horizon and
softness and no observer) is passed to `LinearMPCOptimizer`, which is used as a state-feedback
MPC around a double integrator.
"""
example component LinearMPCStandaloneExample
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.1) {}
  vel = BlockComponents.Continuous.Integrator(x0 = 0.0) {}
  pos = BlockComponents.Continuous.Integrator(x0 = 1.0) {}
  s1 = DiscreteComponents.Sampler() {}
  s2 = DiscreteComponents.Sampler() {}
  sr = DiscreteComponents.Sampler() {}
  zoh = DiscreteComponents.ZeroOrderHold() {}
  ref = BlockComponents.Sources.Step(start_time = 2.0, height = -1.0) {}
  mpc = MPCComponents.LinearMPCOptimizer(mpc = ctrl) {}
  "Hand-built LinearMPC.jl controller"
  structural parameter ctrl::MPCComponents.MPCRef = build_standalone_mpc_example()
  "Position"
  variable y1::Real
  "Control signal"
  variable u1::Real
relations
  y1 = pos.y
  u1 = mpc.u[1]
  connect(zoh.y, vel.u)
  connect(vel.y, pos.u, s2.u)
  connect(pos.y, s1.u)
  connect(s1.y, mpc.xhat[1], periodicclock.y)
  connect(s2.y, mpc.xhat[2])
  connect(ref.y, sr.u)
  connect(sr.y, mpc.r[1])
  connect(mpc.u[1], zoh.u)
metadata {"Dyad": {"tests": {"case1": {"stop": 5}}, "doc": {"behavior": false}}}
end


Test Cases ​

Test Case case1 ​

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