The systems package

The systems package#

Submodules#

mpt4py.systems.lti_system module#

class mpt4py.systems.lti_system.LTISystem(*args, **kwargs)[source]#

Bases: StateSpace, SystemBase

Linear Time Invariant (LTI) System.

This is a wrapper of the LTI class in Python Control Library.

property Q: ndarray[tuple[Any, ...], dtype[float64]]#

property Qf: ndarray[tuple[Any, ...], dtype[float64]]#

property R: ndarray[tuple[Any, ...], dtype[float64]]#

control_invariant_set()[source]#: Compute the control invariant set of the given MPC controller.

discretize(Ts: float, *args, **kwargs) → LTISystem[source]#

property input_constraints: Polyhedron#

invariant_set(K: ndarray[tuple[Any, ...], dtype[float64]], max_itr: int | None = 100, verbose: bool | None = False) → Tuple[Polyhedron, bool][source]#: Compute the (maximal) invariant set using the given terminal controller \(u=Kx\).

property lqr_gain: ndarray[tuple[Any, ...], dtype[float64]]#: Compute the infinite-horizon LQR gain \(u=Kx\).

property lqr_set: Tuple[Polyhedron, bool]#: Compute the (maximal) invariant set using infinite-horizon LQR as the terminal controller.

property state_constraints: Polyhedron#

property terminal_constraints: Polyhedron#

property u_ref: ndarray[tuple[Any, ...], dtype[float64]]#

property x_ref: ndarray[tuple[Any, ...], dtype[float64]]#

mpt4py.systems.system_base module#

class mpt4py.systems.system_base.SystemBase(*args, **kwargs)[source]#

Bases: ABC, InputOutputSystem

Base class for all continuous-time dynamical systems.

cost(x: ndarray[tuple[Any, ...], dtype[float64]], u: ndarray[tuple[Any, ...], dtype[float64]]) → float[source]#

abstractmethod discretize(Ts: float, *args, **kwargs) → SystemBase[source]#

dynamics() → ndarray[source]#: The system dynamics. If the system is continuous, return x_dot. If the system is discrete, return x_plus.

property nu: int#

property nx: int#

property ny: int#

Module contents#

class mpt4py.systems.LTISystem(*args, **kwargs)[source]

Bases: StateSpace, SystemBase

Linear Time Invariant (LTI) System.

This is a wrapper of the LTI class in Python Control Library.

property Q: ndarray[tuple[Any, ...], dtype[float64]]

property Qf: ndarray[tuple[Any, ...], dtype[float64]]

property R: ndarray[tuple[Any, ...], dtype[float64]]

control_invariant_set()[source]: Compute the control invariant set of the given MPC controller.

discretize(Ts: float, *args, **kwargs) → LTISystem[source]

property input_constraints: Polyhedron

invariant_set(K: ndarray[tuple[Any, ...], dtype[float64]], max_itr: int | None = 100, verbose: bool | None = False) → Tuple[Polyhedron, bool][source]: Compute the (maximal) invariant set using the given terminal controller \(u=Kx\).

property lqr_gain: ndarray[tuple[Any, ...], dtype[float64]]: Compute the infinite-horizon LQR gain \(u=Kx\).

property lqr_set: Tuple[Polyhedron, bool]: Compute the (maximal) invariant set using infinite-horizon LQR as the terminal controller.

property state_constraints: Polyhedron

property terminal_constraints: Polyhedron

property u_ref: ndarray[tuple[Any, ...], dtype[float64]]

property x_ref: ndarray[tuple[Any, ...], dtype[float64]]

class mpt4py.systems.SystemBase(*args, **kwargs)[source]

Bases: ABC, InputOutputSystem

Base class for all continuous-time dynamical systems.

cost(x: ndarray[tuple[Any, ...], dtype[float64]], u: ndarray[tuple[Any, ...], dtype[float64]]) → float[source]

abstractmethod discretize(Ts: float, *args, **kwargs) → SystemBase[source]

dynamics() → ndarray[source]: The system dynamics. If the system is continuous, return x_dot. If the system is discrete, return x_plus.

property nu: int

property nx: int

property ny: int