plot

Class method.

plot(self, *args, **kwargs)

Plot the results of the MPC simulation.

If no argument is passed, by default the closed loop states and controls are plotted seperated in two subplots.

If only a specific component of the solution should be plotted, this can be customized by using a string as the first argument. Valid arguments for this are

• state for only plotting the closed loop state trajectories

• control for only plotting the closed loop control values

• cost for plotting the stage costs evaluated at the closed loop results

• phase for plotting a phase portrait of two components of the solution.

Further adjustments can be made with the help of the following keyword arguments.

Argument	Description	Default value
xk	List specifying which components of the state are plotted.	[1,…,nx]
uk	List specifying which components of the control are plotted.	[1,…,nu]
show_ol	If True, the open loop simulation rersults are also plotted additionaly to the closed loop results.	True
iters	List indicating from which iteration on the open loop results should be plotted. Will be ignored if show_ol is False.	[1,…,K+1]
usetex	If True, the captions are displayed in TEX style.	True
grid	If True, a grid is displayed in the background of the plot.	True
show_legend	If True, a legend will be displayed inside the plot.	True
phase1	Phase 1 of the phase portrait plot. Has the form x_k or u_k, where k determines the respective component. Will be ignored if args!=’phase’.	None
phase2	Phase 2 of the phase portrait plot. Has the form x_k or u_k, where k determines the respective component. Will be ignored if args!=’phase’.	None
dpi	resolution of the figure, see	100
figsize	The size of the figure. Has the form [width, height] in inches.	[8., 6.]
linewidth	Set the line width in points.
fontsize	The font size of the annotations. If the value is numeric the size will be the absolute font size in points.