deltaPenalty
Purpose
Penalizes the increment of a signal
Syntax
Description
This filter penalizes the difference of a signal defined as
where
is the system signal and
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').
◀ |
filter_min |
|
filter_terminalpenalty |
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© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk