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
- cpsim.controllers.LQRSSE module
- cpsim.controllers.MPC_OSQP module
- 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
- cpsim.controllers.PID_incremental module
- cpsim.controllers.controller_base module
- Module contents
- cpsim.formal package
- cpsim.info package
- 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
- cpsim.models.linear package
- Module contents
- Subpackages
- cpsim.observers package
- cpsim.utils package
Submodules
cpsim.attack module
cpsim.simulator module
- class cpsim.simulator.Simulator(name, Ts, max_index)[source]
Bases:
object
states, utils inputs/outputs are instance of np.array with shape (n,) (m,) (p,)
- noise_init(noise)[source]
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’