Index

_

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

A

alpha_reg_type (NonlinearDataDrivenMPCController attribute)

AlphaRegType (class in direct_data_driven_mpc.nonlinear_data_driven_mpc_controller)

C

c (LTIDataDrivenMPCController attribute) 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) construct_weighting_matrix() (in module direct_data_driven_mpc.utilities.controller.controller_params)

controller_type (LTIDataDrivenMPCController attribute) 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

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_utils 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 du (NonlinearDataDrivenMPCController attribute)

E

eps_max (LTIDataDrivenMPCController attribute) estimate_initial_state() (in module direct_data_driven_mpc.utilities.initial_state_estimation)

evaluate_persistent_excitation() (in module direct_data_driven_mpc.utilities.hankel_matrix_utils) ext_out_incr_in (NonlinearDataDrivenMPCController attribute)

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_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_utils)

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)

L

L (LTIDataDrivenMPCController attribute) (NonlinearDataDrivenMPCController attribute) lamb_alpha (LTIDataDrivenMPCController attribute) (NonlinearDataDrivenMPCController attribute) lamb_alpha_s (NonlinearDataDrivenMPCController attribute) lamb_sigma (LTIDataDrivenMPCController attribute) (NonlinearDataDrivenMPCController attribute)

lamb_sigma_s (NonlinearDataDrivenMPCController attribute) 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

m (LTIDataDrivenMPCController attribute) (NonlinearDataDrivenMPCController attribute) 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_utils 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

N (LTIDataDrivenMPCController attribute) n (LTIDataDrivenMPCController attribute) N (NonlinearDataDrivenMPCController attribute) n (NonlinearDataDrivenMPCController attribute)

n_mpc_step (LTIDataDrivenMPCController attribute) (NonlinearDataDrivenMPCController attribute) 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

p (LTIDataDrivenMPCController attribute) (NonlinearDataDrivenMPCController attribute) 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)

Q

Q (LTIDataDrivenMPCController attribute) (NonlinearDataDrivenMPCController attribute)

R

R (LTIDataDrivenMPCController attribute) (NonlinearDataDrivenMPCController attribute)

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

S

S (NonlinearDataDrivenMPCController attribute) 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) slack_var_constraint_type (LTIDataDrivenMPCController attribute) SlackVarConstraintType (class in direct_data_driven_mpc.lti_data_driven_mpc_controller) store_input_output_measurement() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method)

T

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

U

U (LTIDataDrivenMPCController attribute) (NonlinearDataDrivenMPCController attribute) u (NonlinearDataDrivenMPCController attribute) u_d (LTIDataDrivenMPCController attribute) u_past (LTIDataDrivenMPCController attribute) u_s (LTIDataDrivenMPCController attribute)

update_and_solve_data_driven_mpc() (LTIDataDrivenMPCController method) (NonlinearDataDrivenMPCController method) update_cost_threshold (NonlinearDataDrivenMPCController attribute) update_data_animation() (in module direct_data_driven_mpc.utilities.visualization.control_plot_anim) Us (NonlinearDataDrivenMPCController attribute) use_terminal_constraints (LTIDataDrivenMPCController attribute)

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)

Y

y (NonlinearDataDrivenMPCController attribute) y_d (LTIDataDrivenMPCController attribute)

y_past (LTIDataDrivenMPCController attribute) y_r (NonlinearDataDrivenMPCController attribute) y_s (LTIDataDrivenMPCController attribute)