Index

_

__init__() (LTIDataDrivenMPCController method) (LTIModel method) (LTISystemModel method) (NonlinearDataDrivenMPCController method) (NonlinearSystem method)

A

AlphaRegType (class in direct_data_driven_mpc.nonlinear_data_driven_mpc_controller)

C

calculate_equilibrium_input_from_output() (in module direct_data_driven_mpc.utilities.initial_state_estimation) calculate_equilibrium_output_from_input() (in module direct_data_driven_mpc.utilities.initial_state_estimation) check_list_length() (in module direct_data_driven_mpc.utilities.visualization.plot_utilities) check_prediction_horizon_length() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) check_weighting_matrices_dimensions() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method)

construct_weighting_matrix() (in module direct_data_driven_mpc.utilities.controller.controller_params) create_artists() (HandlerInitMeasurementRect method) create_input_output_figure() (in module direct_data_driven_mpc.utilities.visualization.plot_utilities) create_lti_data_driven_mpc_controller() (in module direct_data_driven_mpc.utilities.controller.controller_creation) create_nonlinear_data_driven_mpc_controller() (in module direct_data_driven_mpc.utilities.controller.controller_creation)

D

define_alpha_sr_Lin_Dt_prob() (NonlinearDataDrivenMPCController method) define_cost_function() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) define_input_constraints() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) define_internal_state_constraints() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) define_mpc_constraints() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) define_mpc_problem() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) define_optimization_parameters() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) define_optimization_variables() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) define_slack_variable_constraint() (LTIDataDrivenMPCController method) define_system_dynamic_constraints() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) define_terminal_state_constraints() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) direct_data_driven_mpc.lti_data_driven_mpc_controller module direct_data_driven_mpc.nonlinear_data_driven_mpc_controller module direct_data_driven_mpc.utilities.controller.controller_creation module

direct_data_driven_mpc.utilities.controller.controller_params module direct_data_driven_mpc.utilities.controller.data_driven_mpc_sim module direct_data_driven_mpc.utilities.controller.initial_data_generation module direct_data_driven_mpc.utilities.hankel_matrix module direct_data_driven_mpc.utilities.initial_state_estimation module direct_data_driven_mpc.utilities.models.lti_model module direct_data_driven_mpc.utilities.models.nonlinear_model module direct_data_driven_mpc.utilities.visualization.comparison_plot module direct_data_driven_mpc.utilities.visualization.control_plot module direct_data_driven_mpc.utilities.visualization.control_plot_anim module direct_data_driven_mpc.utilities.visualization.plot_utilities module direct_data_driven_mpc.utilities.yaml_config_loading module

E

estimate_initial_state() (in module direct_data_driven_mpc.utilities.initial_state_estimation) evaluate_input_persistent_excitation() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method)

evaluate_persistent_excitation() (in module direct_data_driven_mpc.utilities.hankel_matrix)

F

filter_and_reorder_legend() (in module direct_data_driven_mpc.utilities.visualization.plot_utilities)

G

generate_initial_input_output_data() (in module direct_data_driven_mpc.utilities.controller.initial_data_generation) get_du_value_at_step() (NonlinearDataDrivenMPCController method) get_equilibrium_input_from_output() (LTIModel method) get_equilibrium_output_from_input() (LTIModel method) get_initial_state_from_trajectory() (LTIModel method) get_label_from_list() (in module direct_data_driven_mpc.utilities.visualization.plot_utilities) get_lti_data_driven_mpc_controller_params() (in module direct_data_driven_mpc.utilities.controller.controller_params) get_nonlinear_data_driven_mpc_controller_params() (in module direct_data_driven_mpc.utilities.controller.controller_params) get_optimal_control_input() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method)

get_optimal_control_input_at_step() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) get_optimal_cost_value() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) get_padded_limits() (in module direct_data_driven_mpc.utilities.visualization.plot_utilities) get_problem_solve_status() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) get_text_width_in_data() (in module direct_data_driven_mpc.utilities.visualization.plot_utilities) get_weights_list_from_param() (in module direct_data_driven_mpc.utilities.controller.controller_params)

H

HandlerInitMeasurementRect (class in direct_data_driven_mpc.utilities.visualization.plot_utilities)

hankel_matrix() (in module direct_data_driven_mpc.utilities.hankel_matrix)

I

init_dict_if_none() (in module direct_data_driven_mpc.utilities.visualization.plot_utilities) initialize_data_animation() (in module direct_data_driven_mpc.utilities.visualization.control_plot_anim)

initialize_data_driven_mpc() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method)

L

load_yaml_config_params() (in module direct_data_driven_mpc.utilities.yaml_config_loading) LTIDataDrivenMPCController (class in direct_data_driven_mpc.lti_data_driven_mpc_controller) LTIDataDrivenMPCParams (class in direct_data_driven_mpc.utilities.controller.controller_params)

LTIDataDrivenMPCType (class in direct_data_driven_mpc.lti_data_driven_mpc_controller) LTIModel (class in direct_data_driven_mpc.utilities.models.lti_model) LTISystemModel (class in direct_data_driven_mpc.utilities.models.lti_model)

M

module direct_data_driven_mpc.lti_data_driven_mpc_controller direct_data_driven_mpc.nonlinear_data_driven_mpc_controller direct_data_driven_mpc.utilities.controller.controller_creation direct_data_driven_mpc.utilities.controller.controller_params direct_data_driven_mpc.utilities.controller.data_driven_mpc_sim direct_data_driven_mpc.utilities.controller.initial_data_generation direct_data_driven_mpc.utilities.hankel_matrix direct_data_driven_mpc.utilities.initial_state_estimation direct_data_driven_mpc.utilities.models.lti_model direct_data_driven_mpc.utilities.models.nonlinear_model direct_data_driven_mpc.utilities.visualization.comparison_plot direct_data_driven_mpc.utilities.visualization.control_plot direct_data_driven_mpc.utilities.visualization.control_plot_anim direct_data_driven_mpc.utilities.visualization.plot_utilities direct_data_driven_mpc.utilities.yaml_config_loading

N

NonlinearDataDrivenMPCController (class in direct_data_driven_mpc.nonlinear_data_driven_mpc_controller)

NonlinearDataDrivenMPCParams (class in direct_data_driven_mpc.utilities.controller.controller_params) NonlinearSystem (class in direct_data_driven_mpc.utilities.models.nonlinear_model)

O

observability_matrix() (in module direct_data_driven_mpc.utilities.initial_state_estimation)

P

plot_data() (in module direct_data_driven_mpc.utilities.visualization.control_plot) plot_input_output() (in module direct_data_driven_mpc.utilities.visualization.control_plot) plot_input_output_animation() (in module direct_data_driven_mpc.utilities.visualization.control_plot_anim)

plot_input_output_comparison() (in module direct_data_driven_mpc.utilities.visualization.comparison_plot) print_mpc_step_info() (in module direct_data_driven_mpc.utilities.controller.data_driven_mpc_sim) print_parameter_loading_details() (in module direct_data_driven_mpc.utilities.controller.controller_params)

R

randomize_initial_system_state() (in module direct_data_driven_mpc.utilities.controller.initial_data_generation)

S

save_animation() (in module direct_data_driven_mpc.utilities.visualization.control_plot_anim) set_eps_max() (LTIModel method) set_input_output_data() (NonlinearDataDrivenMPCController method) set_input_output_setpoints() (LTIDataDrivenMPCController method) set_output_setpoint() (NonlinearDataDrivenMPCController method) set_past_input_output_data() (LTIDataDrivenMPCController method) set_state() (LTIModel method) simulate() (LTIModel method) (NonlinearSystem method) simulate_lti_data_driven_mpc_control_loop() (in module direct_data_driven_mpc.utilities.controller.data_driven_mpc_sim)

simulate_n_input_output_measurements() (in module direct_data_driven_mpc.utilities.controller.initial_data_generation) simulate_nonlinear_data_driven_mpc_control_loop() (in module direct_data_driven_mpc.utilities.controller.data_driven_mpc_sim) simulate_step() (LTIModel method) (NonlinearSystem method) SlackVarConstraintType (class in direct_data_driven_mpc.lti_data_driven_mpc_controller) solve_alpha_sr_Lin_Dt() (NonlinearDataDrivenMPCController method) solve_mpc_problem() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) store_input_output_measurement() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) store_previous_alpha_value() (NonlinearDataDrivenMPCController method)

T

toeplitz_input_output_matrix() (in module direct_data_driven_mpc.utilities.initial_state_estimation)

U

update_and_solve_data_driven_mpc() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method)

update_data_animation() (in module direct_data_driven_mpc.utilities.visualization.control_plot_anim) update_optimization_parameters() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method)

V

validate_comparison_plot_parameters() (in module direct_data_driven_mpc.utilities.visualization.comparison_plot)

validate_data_dimensions() (in module direct_data_driven_mpc.utilities.visualization.plot_utilities)