Struct ModelPredictiveControl 

pub struct ModelPredictiveControl {
    pub a: Vec<Vec<f64>>,
    pub b: Vec<Vec<f64>>,
    pub horizon: usize,
    pub q_weight: f64,
    pub r_weight: f64,
    pub u_max: f64,
}

Simple linear MPC with prediction horizon N, tracking and input penalties.

Fields

a: Vec<Vec<f64>>

System A matrix (n×n).

b: Vec<Vec<f64>>

System B matrix (n×m).

horizon: usize

Prediction horizon.

q_weight: f64

State tracking weight (diagonal Q).

r_weight: f64

Input weight (diagonal R).

u_max: f64

Input constraint: max magnitude.

Implementations

impl ModelPredictiveControl

pub fn new( a: Vec<Vec<f64>>, b: Vec<Vec<f64>>, horizon: usize, q_weight: f64, r_weight: f64, ) -> Self

Create a new MPC controller.

pub fn set_input_constraint(&mut self, u_max: f64)

Set input constraint.

pub fn compute(&self, x: &[f64], x_ref: &[f64]) -> Vec<f64>

Compute first optimal control action via unconstrained MPC (gradient step). x is current state, x_ref is reference trajectory (constant horizon×n).

Trait Implementations

impl Clone for ModelPredictiveControl

fn clone(&self) -> ModelPredictiveControl

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ModelPredictiveControl

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.