APIs

Subpackages

• cpsim.controllers package
  • Submodules
  • cpsim.controllers.LP_cvxpy module
    • LP
      • LP.formulate()
      • LP.formulate_only_x0()
      • LP.get_full_ctrl()
      • LP.get_last_x()
      • LP.ready_to_formulate()
      • LP.set_control_limit()
      • LP.set_reference()
      • LP.set_solver()
      • LP.update()
      • LP.update_ddl()
      • LP.update_horizon()
      • LP.update_model()
      • LP.update_model_residual()
      • LP.update_params()
      • LP.update_safe_set()
      • LP.update_target_set()
  • cpsim.controllers.LQR module
    • LQR
      • LQR.set_control_limit()
      • LQR.set_reference()
      • LQR.update()
      • LQR.update_gain()
  • cpsim.controllers.LQRSSE module
    • LQRSSE
      • LQRSSE.compute_Nbar()
      • LQRSSE.set_control_limit()
      • LQRSSE.set_reference()
      • LQRSSE.update()
      • LQRSSE.update_gain()
  • cpsim.controllers.MPC_OSQP module
    • MPC
      • MPC.formulate()
      • MPC.formulate_only_x0()
      • MPC.ready_to_formulate()
      • MPC.set_control_limit()
      • MPC.set_reference()
      • MPC.update()
      • MPC.update_ddl()
      • MPC.update_horizon()
      • MPC.update_model()
      • MPC.update_object()
      • MPC.update_params()
      • MPC.update_safe_set()
      • MPC.update_target_set()
  • cpsim.controllers.MPC_cvxpy module
    • MPC
      • MPC.formulate()
      • MPC.formulate_only_x0()
      • MPC.get_full_ctrl()
      • MPC.get_last_x()
      • MPC.ready_to_formulate()
      • MPC.set_control_limit()
      • MPC.set_reference()
      • MPC.update()
      • MPC.update_ddl()
      • MPC.update_horizon()
      • MPC.update_model()
      • MPC.update_model_residual()
      • MPC.update_object()
      • MPC.update_params()
      • MPC.update_safe_set()
      • MPC.update_target_set()
  • cpsim.controllers.PID module
    • PID
      • PID.clear()
      • PID.setKd()
      • PID.setKi()
      • PID.setKp()
      • PID.setSampleTime()
      • PID.setWindup()
      • PID.set_control_limit()
      • PID.set_reference()
      • PID.update()
  • cpsim.controllers.PID_incremental module
    • PID
      • PID.clear()
      • PID.setKd()
      • PID.setKi()
      • PID.setKp()
      • PID.setSampleTime()
      • PID.setWindup()
      • PID.set_control_limit()
      • PID.set_reference()
      • PID.update()
  • cpsim.controllers.controller_base module
    • Controller
      • Controller.clear()
      • Controller.set_control_limit()
      • Controller.set_reference()
      • Controller.update()
  • Module contents
• cpsim.formal package
  • Submodules
  • cpsim.formal.gaussian_distribution module
    • GaussianDistribution
      • GaussianDistribution.from_standard()
      • GaussianDistribution.plot()
      • GaussianDistribution.prob_in_half_space()
      • GaussianDistribution.prob_in_strip()
      • GaussianDistribution.random()
      • GaussianDistribution.transformation_matrix_from_standard()
  • cpsim.formal.half_space module
    • HalfSpace
      • HalfSpace.plot()
  • cpsim.formal.hyperplane module
    • Hyperplane
      • Hyperplane.inverse_normal_vector()
  • cpsim.formal.reachability module
    • ReachableSet
      • ReachableSet.distribution()
      • ReachableSet.first_intersection()
      • ReachableSet.given_P()
      • ReachableSet.given_k()
      • ReachableSet.init()
      • ReachableSet.maintain_once()
      • ReachableSet.plot()
      • ReachableSet.reachable_set_k()
      • ReachableSet.reachable_set_wo_noise()
      • ReachableSet.state_reconstruction()
  • cpsim.formal.strip module
    • Strip
      • Strip.center()
      • Strip.in_strip()
      • Strip.inverse_normal_vector()
      • Strip.plot()
      • Strip.point_to_strip()
  • cpsim.formal.zonotope module
    • Zonotope
      • Zonotope.alpha_to_control()
      • Zonotope.from_box()
      • Zonotope.is_intersected()
      • Zonotope.plot()
      • Zonotope.point_closest_to_hyperplane()
      • Zonotope.show_control_effect()
      • Zonotope.show_routine()
      • Zonotope.support()
      • Zonotope.to_V()
      • Zonotope.vertex_with_max_support()
  • Module contents
• cpsim.info package
  • Submodules
  • cpsim.info.Timer module
    • Timer
      • Timer.reset()
      • Timer.tic()
      • Timer.toc()
      • Timer.total()
  • Module contents
• cpsim.models package
  • Subpackages
    • cpsim.models.linear package
      • Submodules
      • cpsim.models.linear.F16 module
      • cpsim.models.linear.aircraft_pitch module
      • cpsim.models.linear.boeing747 module
      • cpsim.models.linear.heat module
      • cpsim.models.linear.lane_keeping module
      • cpsim.models.linear.motor_speed module
      • cpsim.models.linear.platoon module
      • cpsim.models.linear.quadrotor module
      • cpsim.models.linear.quadruple_tank module
      • cpsim.models.linear.rlc_circuit module
      • Module contents
    • cpsim.models.nonlinear package
      • Submodules
      • cpsim.models.nonlinear.compute_analytical_model module
      • cpsim.models.nonlinear.compute_analytical_model_quad module
      • cpsim.models.nonlinear.continuous_stirred_tank_reactor module
      • cpsim.models.nonlinear.inverted_pendulum module
      • cpsim.models.nonlinear.quad module
      • cpsim.models.nonlinear.vessel module
      • Module contents
  • Module contents
• cpsim.observers package
  • Submodules
  • cpsim.observers.extended_kalman_filter module
    • ExtendedKalmanFilter
      • ExtendedKalmanFilter.multi_steps()
      • ExtendedKalmanFilter.one_step()
      • ExtendedKalmanFilter.predict()
      • ExtendedKalmanFilter.update()
  • cpsim.observers.full_state_bound module
    • Estimator
      • Estimator.estimate()
      • Estimator.estimate_wo_bound()
      • Estimator.get_deadline()
  • cpsim.observers.full_state_bound_nonlinear module
    • NonlinearEstimator
      • NonlinearEstimator.estimate()
      • NonlinearEstimator.get_deadline()
  • cpsim.observers.interval_helpers module
    • Newton_Integration()
    • RungeKutta_Integration()
    • convert_1D_list_to_intervals()
    • convert_2D_list_to_intervals()
    • isIntersecting()
    • midpoint()
    • reach()
    • replace_safe_state_intervals_with_saved_value_intervals()
  • cpsim.observers.kalman_filter module
    • KalmanFilter
      • KalmanFilter.multi_steps()
      • KalmanFilter.one_step()
      • KalmanFilter.predict()
      • KalmanFilter.update()
  • Module contents
• cpsim.utils package
  • Submodules
  • cpsim.utils.linearizer module
    • Linearizer
      • Linearizer.at()
    • analytical_linearize_cstr()
  • Module contents

Submodules

cpsim.attack module

class cpsim.attack.Attack(category, param, start_index, end_index=None)

Bases: object

disable()

get_C_filter()

launch(cur_data, cur_index, history_intact_data)

update_param(param)

cpsim.simulator module

class cpsim.simulator.Simulator(name, Ts, max_index)

Bases: object

states, utils inputs/outputs are instance of np.array with shape (n,) (m,) (p,)

data_init()

evolve(u=None)

linear(A, B, C=None, D=None)

linearize_at(x_0: ndarray, u_0: ndarray)

self.sysc = Ax + Bu + c

noise_init(noise)

Only implement the white noise keys:

‘process’/’measurement’:

‘type’: ‘white’ todo: ‘white_bounded’, ‘box_uniform’, ‘ball_uniform’ ‘param’:

‘C’: linear transformation matrix from standard normal distribution scale for ‘white’

nonlinear(ode, n, m, p, C=None, D=None)

reset()

set_controller(controller)

please implement update method to get utils input

set_feedback_type(feedback_type)

‘state’, ‘output’, None

set_init_state(x)

sim_init(settings: dict)

keys:

‘feedback_type’: ‘state’, ‘output’, None ‘init_state’: np.ndarray (n,) ‘controller’: object with update method

update_current_ref(ref)

Module contents