pykoop.dynamic_models.DiscreteDynamicModel
- class DiscreteDynamicModel
Bases:
object
Discrete-time dynamic model.
- __init__()
Methods
__init__
()f
(t, x, u)Implement next-state equation.
g
(t, x)Implement output equation.
simulate
(t_range, t_step, x0, u)Simulate the model.
- abstract f(t, x, u)
Implement next-state equation.
- Parameters:
t (float) – Time (s).
x (np.ndarray) – State.
u (np.ndarray) – Input.
- Returns:
Next state.
- Return type:
np.ndarray
- g(t, x)
Implement output equation.
- Parameters:
t (float) – Time (s).
x (np.ndarray) – State.
- Returns:
Measurement of state.
- Return type:
np.ndarray
- simulate(t_range, t_step, x0, u)
Simulate the model.
- Parameters:
- Returns:
Time and state at every timestep. Each timestep is one row.
- Return type:
Tuple[np.ndarray, np.ndarray]