mpc_fgm Struct Reference

#include <mpc_base.h>

Data Fields
real_t *	u_0
real_t *	gxoL
real_t *	groL
uint32_t *	j_in
real_t *	HoL
real_t *	GoL
real_t *	u_lb
real_t *	u_ub
real_t *	nu
uint32_t	HOR
uint32_t	STATES
uint32_t	INPUTS
uint32_t	HOR_INPUTS
uint32_t	HOR_STATES

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Detailed Description

Variables used by the fast gradient method.

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Field Documentation

real_t* GoL

Linear term matrix of the QP, over Lipschitz constant.

real_t* groL

Non-zero reference component of gradient vector component over Lipschitz constant.

real_t* gxoL

Gradient vector over Lipschitz for the current system state.

real_t* HoL

Hessian matrix of QP over Lipschitz constant.

uint32_t HOR

MPC prediction horizon.

uint32_t HOR_INPUTS

Horizon times number of inputs.

uint32_t HOR_STATES

Horizon times number of states.

uint32_t INPUTS

Number of system inputs.

uint32_t* j_in

Maximun number of internal loop (FGM) iterations .

real_t* nu

Fast gradient extra step constant.

uint32_t STATES

Number of system states.

real_t* u_0

Initial guess for the optimal control sequence.

real_t* u_lb

Lower bound constraint of the inputs for condensed QP.

real_t* u_ub

Upper bound constraint of the inputs for condensed QP.

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The documentation for this struct was generated from the following file:

• include/mpc_base.h