soft4pes.control.mpc.solvers.utils#

Utility functions for MPC solvers.

Functions#

switching_constraint_violated(nl, u_abc, u_km1_abc)

Check if a candidate three-phase switch position violates a switching constraint.

squared_weighted_second_norm(vector, Q)

Compute the squared weighted second norm of a vector. The elements of the norm are weighted by

make_QP_matrices(sys, ctr)

Create the QP matrices.

make_Gamma(Np, C, A)

Make Gamma matrix for the QP.

make_Upsilon(Np, C, A, B)

Make Upsilon matrix for the QP.

Module Contents#

soft4pes.control.mpc.solvers.utils.switching_constraint_violated(nl, u_abc, u_km1_abc)[source]#

Check if a candidate three-phase switch position violates a switching constraint. A three-level converter is not allowed to directly switch from -1 and 1 (and vice versa) on one phase.

Parameters:

  • nl (int) – Number of converter voltage levels.

  • u_abc (1 x 3 ndarray of ints) – three-phase switch position.

  • u_km1_abc (1 x 3 ndarray of ints) – Previously applied three-phase switch position.

Returns:

Constraint violated.

Return type:

bool

soft4pes.control.mpc.solvers.utils.squared_weighted_second_norm(vector, Q)[source]#

Compute the squared weighted second norm of a vector. The elements of the norm are weighted by the weighting matrix Q, i.e. sqrt(x.T * Q * x)^2 = x.T * Q * x.

Parameters:

  • vector (ndarray) – Vector.

  • Q (ndarray) – Weighting matrix.

Returns:

Squared weighted second norm.

Return type:

float

soft4pes.control.mpc.solvers.utils.make_QP_matrices(sys, ctr)[source]#

Create the QP matrices.

Parameters:

  • sys (system object) – System model.

  • ctr (controller object) – Controller object.

Returns:

Namespace containing the QP matrices.

Return type:

SimpleNamespace

soft4pes.control.mpc.solvers.utils.make_Gamma(Np, C, A)[source]#

Make Gamma matrix for the QP.

Parameters:

  • Np (int) – Prediction horizon.

  • C (ndarray) – Output matrix of the system.

  • A (ndarray) – State matrix of the system.

Returns:

Gamma matrix.

Return type:

ndarray

soft4pes.control.mpc.solvers.utils.make_Upsilon(Np, C, A, B)[source]#

Make Upsilon matrix for the QP.

Parameters:

  • Np (int) – Prediction horizon.

  • C (ndarray) – Output matrix of the system.

  • A (ndarray) – State matrix of the system.

  • B (ndarray) – Input matrix of the system.

Returns:

Upsilon matrix.

Return type:

ndarray