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LinearizationPoint ​

Operating point at which LinearMPCController linearizes its plant dynamics: InitialState is the initial state of the plant with its inputs held at u_op and its known disturbances at d_op; SteadyState is the steady state at those inputs; OutputTarget is the steady state and the inputs at which the outputs take the values y_op, with u_op as the initial guess of the inputs (the targets must be consistent with a steady state, which in general allows at most as many outputs as inputs). The steady state is computed by MTK's initialization of the plant, from the initial state

Cases ​

  • InitialState

  • SteadyState

  • OutputTarget

Source ​

dyad
"Operating point at which LinearMPCController linearizes its plant `dynamics`: InitialState is the initial state of the plant with its inputs held at u_op and its known disturbances at d_op; SteadyState is the steady state at those inputs; OutputTarget is the steady state and the inputs at which the outputs take the values y_op, with u_op as the initial guess of the inputs (the targets must be consistent with a steady state, which in general allows at most as many outputs as inputs). The steady state is computed by MTK's initialization of the plant, from the initial state"
enum LinearizationPoint =
  | InitialState
  | SteadyState
  | OutputTarget

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