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Functions: PredictiveController Internals

Pages = ["predictive_control.md"]

The prediction methodology of this module is mainly based on Maciejowski textbook 1.

Controller Construction

ModelPredictiveControl.move_blocking
ModelPredictiveControl.init_ZtoΔU   
ModelPredictiveControl.init_ZtoU
ModelPredictiveControl.init_predmat
ModelPredictiveControl.init_defectmat
ModelPredictiveControl.relaxU
ModelPredictiveControl.relaxΔU
ModelPredictiveControl.relaxŶ
ModelPredictiveControl.relaxW
ModelPredictiveControl.relaxterminal
ModelPredictiveControl.augmentdefect
ModelPredictiveControl.init_quadprog
ModelPredictiveControl.init_stochpred
ModelPredictiveControl.init_orthocolloc
ModelPredictiveControl.init_matconstraint_mpc
ModelPredictiveControl.get_nonlinobj_op(::NonLinMPC, ::ModelPredictiveControl.GenericModel)
ModelPredictiveControl.get_nonlincon_oracle(::NonLinMPC, ::ModelPredictiveControl.GenericModel)

Update Quadratic Optimization

ModelPredictiveControl.initpred!(::PredictiveController, ::LinModel, ::Any, ::Any, ::Any, ::Any, ::Any, ::Any)
ModelPredictiveControl.linconstraint!(::PredictiveController, ::LinModel, ::TranscriptionMethod)
ModelPredictiveControl.linconstrainteq!

Solve Optimization Problem

ModelPredictiveControl.optim_objective!(::PredictiveController)
ModelPredictiveControl.set_warmstart!
ModelPredictiveControl.predict!
ModelPredictiveControl.disturbedinput!
ModelPredictiveControl.con_nonlinprog!
ModelPredictiveControl.con_nonlinprogeq!
ModelPredictiveControl.getinput!

Footnotes

  1. Maciejowski, J. 2000, "Predictive control : with constraints", 1st ed., Prentice Hall, ISBN 978-0201398236. ↩