mpc
Class method.
- mpc(self, x0, N, K, discount=None)
Solves the optimal control problem via model predictive control.
- Parameters:
x0 (array) – Initial state of the optimal control problem.
N (int) – MPC horizon.
K (int) – Number of MPC itertaions.
discount (float, optional) – Discountfactor of the objective. The default is None.
- Returns:
res – nMPyC result object containing the optimiaztion results of the closed and open loop simulations.
- Return type: