Parameters
:tune
Tune a controller from a model.
- Default value: nothing
- Accepted: nothing
- Method argument:
controller - Example:
controller(:tune, project_name = "project1", model_name = "model1", )
Mandatory parameters
The following parameters are mandatories in order to tune a controller from a model.
project_name
Set project name of the tuning controller.
- Default value: nothing
- Accepted: string
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, project_name = "project1")
model_name
Set model name of the tuning controller.
- Default value: nothing
- Accepted: string
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, model_name = "model1")
mpc_lower_state_constraints
Set the lower model predictive contraints of the state.
- Default value: nothing
- Accepted: vector
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_lower_state_constraints = [0.2 , 0.2])
mpc_higher_state_constraints
Set the higher model predictive contraints of the state.
- Default value: nothing
- Accepted: vector
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_higher_state_constraints = [2 , 2])
mpc_lower_input_constraints
Set the lower model predictive contraints of the input.
- Default value: nothing
- Accepted: vector
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_lower_input_constraints = [1 , 1])
mpc_higher_input_constraints
Set the lower model predictive contraints of the input.
- Default value: nothing
- Accepted: vector
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_lower_input_constraints = [10 , 10])
mpc_horizon
Set the horizon length of the model predictive control or economic model predictive control.
- Default value: nothing
- Accepted: integer
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_horizon = 25)
mpc_state_reference
Set the state reference of the model predictive control. The references are also used as a linearized point when a linear controller is requested from a non linear model.
- Default value: nothing
- Accepted: vector
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_state_reference = [0.5, 0.5])
mpc_input_reference
Set the input reference of the model predictive control. The references are also used as a linearized point when a linear controller is requested from a non linear model.
- Default value: nothing
- Accepted: vector
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_input_reference = [1, 1])
mpc_sample_time
Set the sample time of the model predictive control or economic model predictive control.
- Default value: nothing
- Accepted: integer
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_sample_time = 5)
Optional parameters
controller_name
Set the controller name on the database to create.
- Default value: random
- Accepted: string
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, controller_name = "controller1")
mpc_controller_type
Set the model predictive control or the economic model predictive control.
- Default value: "modelpredictivecontrol"
- Accepted: string, modelpredictivecontrol , economicmodelpredictive_control
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_controller_type = "model_predictive_control")
mpc_programming_type
Set the model predictive control implementation type.
- Default value: NonLinear
- Accepted: string, Linear, NonLinear, MixedLinear
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_programming_type = "non_linear")
mpc_solver
Set the solver of the model predictive control or economic model predictive control.
- Default value: automatic according to the model and
mpc_programming_type - Accepted: string, osqp, scip, mosek, ipopt, highs
- Method argument:
controller(:tune, ...) - Example:
controller(:tune, mpc_solver = "ipopt")
:calculate
Calculate (or compute) a controller with initialization state.
- Default value: nothing
- Accepted: nothing
- Method argument:
controller - Example:
controller(:calculate, initialization = [0.5])
Mandatory parameters
initialization
Set the state initialization (or measure) of the controller to calculate.
- Default value: nothing
- Accepted: vector
- Method argument:
controller(:calculate, ...) - Example:
controller(:calculate, initialization = [0.3, 0.3])
:load
Load a controller from the database in order to calculate the controller.
Mandatory parameters
project_name
Set the project name of the controller to load.
- Default value: nothing
- Accepted: string
- Method argument:
controller(:load, ...) - Example:
controller(:load, project_name = "project1")
controller_name
Set the controller name of the controller to load.
- Default value: nothing
- Accepted: string
- Method argument:
controller(:load, ...) - Example:
controller(:load, controller_name = "controller1")
:ls
List the controller that are available.
- Default value: nothing
- Accepted: nothing
- Method argument:
controller - Example:
controller(:ls, project_name = "project1")
Mandatory parameters
project_name
Set the project name of the controller to list.
- Default value: nothing
- Accepted: string
- Method argument:
controller(:ls, ...) - Example:
controller(:ls, project_name = "project1")
:rm
Remove a controller from a project.
- Default value: nothing
- Accepted: nothing
- Method argument:
controller - Example:
controller(:rm, project_name = "project1")
Mandatory parameters
project_name
Set the project name of the controller to remove.
- Default value: nothing
- Accepted: string
- Method argument:
controller(:rm, ...) - Example:
controller(:rm, project_name = "project1")
controller_name
Set the controller name of the controller to remove.
- Default value: nothing
- Accepted: string
- Method argument:
controller(:remove, ...) - Example:
controller(:rm, controller_name = "controller1")