SystemSignal
Purpose
Class representing variables of a dynamical system
Syntax
signal = SystemSignal(n)
Description
The SystemSignal class represents
prediction of variables (e.g., system states, inputs, or
outputs) of a dynamical system in an MPC setup.
Signals are created by signal = SystemSignal(n), where
n is the dimension of the variable. Once constructed,
signals can be assigned names by signal.name =
'myname'. Each signal has following properties available for
read/write access by default:
-
signal.min: lower bound on the variable in MPC problems
-
signal.max: upper bound on the variable in MPC problems
-
signal.penalty: penalization of the variable in the
MPC cost function given as Function object
Many additional properties can be set by the concept of
filters. In short, filters are dynamical properties which
can be added to a signal on demand. A filter is added by calling
signal.with('filter_name'). List of available filters can
be obtained by calling methods SystemSignal and looking
for methods prefixed by the filter_ string. Filters can
be removed by calling signal.without('filter_name'). To
list filters added to a particular signal, use the
signal.listFilters() method.
Input Arguments
n |
Dimension of the variable
Class: double
|
◀ |
filter_terminalpenalty |
|
filter_deltamax |
▶ |
© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk