deltaPenalty

Purpose

Penalizes the increment of a signal

Syntax


Description

This filter penalizes the difference of a signal defined as ../../../../../fig/mpt/modules/ui/@SystemSignal/filter_deltapenalty1.png where ../../../../../fig/mpt/modules/ui/@SystemSignal/filter_deltapenalty2.png is the system signal and ../../../../../fig/mpt/modules/ui/@SystemSignal/filter_deltapenalty3.png is the time instant. The filter is activated by calling s.with('deltaPenalty').

Any signal can have this filter, e.g. we can without problems enable slew-rate constraints on states, outputs, or even on binary variables. Non-state signals, however, require that the previous value is specified when calling MPCController/evaluate, e.g. ctrl.evaluate(x0, 'u.previous').


© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk