def create_mpc(self, mpc_type, N, opts={}, tuning=None):
""" Create MPC controller of user-defined type and horizon
for given system dynamics, constraints and cost function.
"""
if mpc_type not in ['economic', 'tuned', 'tracking']:
raise ValueError('Provided MPC type not supported.')
if 'slack_flag' in opts.keys():
mpc_sys = preprocessing.add_mpc_slacks(
copy.deepcopy(self.__sys),
self.__ocp.lam_g,
self.__ocp.indeces_As,
slack_flag=opts['slack_flag'])
else:
mpc_sys = self.__sys
if mpc_type == 'economic':
mpc = pmpc.Pmpc(N=N,
sys=mpc_sys,
cost=self.__l,
wref=self.__w_sol,
lam_g_ref=self.__ocp.lam_g,
options=opts)
else:
cost = self.__tracking_cost(self.__nx + self.__nu + self.__nus)
lam_g0 = copy.deepcopy(self.__ocp.lam_g)
lam_g0['dyn'] = 0.0
if 'g' in lam_g0.keys():
lam_g0['g'] = 0.0
if mpc_type == 'tracking':
if tuning is None:
raise ValueError(
'Tracking type MPC controller requires user-provided tuning!'
)
elif mpc_type == 'tuned':
tuning = {'H': self.__S['Hc'], 'q': self.__S['q']}
mpc = pmpc.Pmpc(N=N,
sys=mpc_sys,
cost=cost,
wref=self.__w_sol,
tuning=tuning,
lam_g_ref=lam_g0,
options=opts)
return mpc
mpc_sys = preprocessing.add_mpc_slacks(
sol['sys'],
sol['lam_g'],
sol['indeces_As'],
slack_flag = 'active'
)
# create controllers
ctrls = {}
# # economic MPC
tuning = {'H': sol['S']['Hc'], 'q': sol['S']['q']}
ctrls['EMPC'] = pmpc.Pmpc(
N = Nmpc,
sys = mpc_sys,
cost = user_input['l'],
wref = sol['wsol'],
lam_g_ref = sol['lam_g'],
sensitivities= sol['S'],
options = opts
)
# prepare tracking cost and initialization
tracking_cost = mtools.tracking_cost(nx+nu+ns)
lam_g0 = copy.deepcopy(sol['lam_g'])
lam_g0['dyn'] = 0.0
lam_g0['g'] = 0.0
# standard tracking MPC
tuningTn = {'H': [np.diag((nx+nu)*[1]+ns*[1e-10])]*user_input['p'], 'q': sol['S']['q']}
ctrls['TMPC_1'] = pmpc.Pmpc(
N = Nmpc,