LIBRARY

Experimental.LinearMPCBankPart

What the gain-scheduled LinearMPC.jl components have in common: a bank of controllers (see build_linear_mpc_bank) in place of a single MPC object, and its number of members.

This component extends from MPCComponents.LinearMPCPart

Usage

MPCComponents.Experimental.LinearMPCBankPart()

Parameters:

Name	Description	Units	Default value
mpc	Set-up LinearMPC.jl MPC object wrapped in an MPCRef (see build_linear_mpc)	–
nx	State dimension of the model (derived from mpc)	–	MPCComponen...mpc_nx(mpc)
nu	Number of controls (derived from mpc)	–	MPCComponen...mpc_nu(mpc)
ny_meas	Number of measured outputs, the rows of the observer's measurement matrix; 0 without an observer (derived from mpc)	–	MPCComponen...y_meas(mpc)
ndo	Number of estimated offset-free disturbances, 0 for a plain Kalman filter (derived from mpc)	–	MPCComponen...pc_ndo(mpc)
nxa	Length of the augmented observer state, nx + ndo (derived)	–	nx + ndo
nr_in	Width of the reference input: 0, ny or ny*Np (derived from mpc)	–	MPCComponen..._nr_in(mpc)
nd_in	Width of the measured-disturbance input: 0, nd_meas or nd_meas*Np (derived from mpc)	–	MPCComponen..._nd_in(mpc)
np_in	Width of the generalized-parameter input: 0, np or np*Np (derived from mpc)	–	MPCComponen..._np_in(mpc)
has_r	Whether the r connector exists (derived)	–	nr_in > 0
has_d	Whether the d connector exists (derived)	–	nd_in > 0
has_dhat	Whether the dhat connector exists (derived)	–	ndo > 0
has_p	Whether the p connector exists (derived)	–	np_in > 0
N	Number of controllers in the bank (derived from mpc)	–	_lmpc_bank_N(mpc)

Source

"""
What the gain-scheduled LinearMPC.jl components have in common: a bank of controllers (see
`build_linear_mpc_bank`) in place of a single MPC object, and its number of members.
"""
partial component LinearMPCBankPart
  extends MPCComponents.LinearMPCPart()
  "Number of controllers in the bank (derived from mpc)"
  final structural parameter N::Integer = _lmpc_bank_N(mpc)
relations
end

Flattened Source

"""
What the gain-scheduled LinearMPC.jl components have in common: a bank of controllers (see
`build_linear_mpc_bank`) in place of a single MPC object, and its number of members.
"""
partial component LinearMPCBankPart
  "Set-up LinearMPC.jl MPC object wrapped in an MPCRef (see build_linear_mpc)"
  structural parameter mpc::MPCRef
  "State dimension of the model (derived from mpc)"
  final structural parameter nx::Integer = _lmpc_nx(mpc)
  "Number of controls (derived from mpc)"
  final structural parameter nu::Integer = _lmpc_nu(mpc)
  "Number of measured outputs, the rows of the observer's measurement matrix; 0 without an observer (derived from mpc)"
  final structural parameter ny_meas::Integer = _lmpc_ny_meas(mpc)
  "Number of estimated offset-free disturbances, 0 for a plain Kalman filter (derived from mpc)"
  final structural parameter ndo::Integer = _lmpc_ndo(mpc)
  "Length of the augmented observer state, nx + ndo (derived)"
  final structural parameter nxa::Integer = nx + ndo
  "Width of the reference input: 0, ny or ny*Np (derived from mpc)"
  final structural parameter nr_in::Integer = _lmpc_nr_in(mpc)
  "Width of the measured-disturbance input: 0, nd_meas or nd_meas*Np (derived from mpc)"
  final structural parameter nd_in::Integer = _lmpc_nd_in(mpc)
  "Width of the generalized-parameter input: 0, np or np*Np (derived from mpc)"
  final structural parameter np_in::Integer = _lmpc_np_in(mpc)
  "Whether the r connector exists (derived)"
  final structural parameter has_r::Boolean = nr_in > 0
  "Whether the d connector exists (derived)"
  final structural parameter has_d::Boolean = nd_in > 0
  "Whether the dhat connector exists (derived)"
  final structural parameter has_dhat::Boolean = ndo > 0
  "Whether the p connector exists (derived)"
  final structural parameter has_p::Boolean = np_in > 0
  "Number of controllers in the bank (derived from mpc)"
  final structural parameter N::Integer = _lmpc_bank_N(mpc)
relations
metadata {}
end

Test Cases

No test cases defined.

Related

• Examples

• Experiments

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