import numpy as np;
import libs.mpyc as reg;

def initialize_mpc():
    # System matrices
    A = np.matrix([[0.968022]]);
    B = np.matrix([[0.000154882,0.00332278,0.000285817]]);
    C = np.matrix([[55811.1],[0.315664]]);
    D = np.matrix([[0,0,0],[0,0,0]]);
    #print "a"
    #print A
    #print "b"
    #print B
    #print "c"
    #print C
    #print "d"
    #print D
    # Control parameters
    L = 4;
    Q = np.diag(np.tile(np.matrix([[100,0.001]]),[1,L]).tolist()[0]);
    R = np.diag(np.tile(np.matrix([[100,100000,100000]]),[1,L]).tolist()[0]);
    #print "q"
    #print Q
    #print "r"
    #print R

    # Control saturations
    Umin = np.matrix([[1],[0],[0]]);
    Umax = np.matrix([[99],[5],[5]]);
    DeltaUmin = np.matrix([[-30],[-3],[-3]]);
    DeltaUmax = np.matrix([[30],[3],[3]]);

    #print "umin"
    #print Umin
    #print "umax"
    #print Umax
    #print "deltaumin"
    #print DeltaUmin
    #print "deltaumax"
    #print DeltaUmax

    # Kalman filter matrices
    Qn = np.diag(np.matrix([[1,1,1]]).tolist()[0]);
    Rn = np.diag(np.matrix([[1,1]]).tolist()[0]);
    Lk = np.matrix([[1.73441e-05,9.80971e-11]]);
    Pk = np.matrix([[1.11468e-05]]);

    #print "qn"
    #print Qn
    #print "rn"
    #print Rn
    #print "lk"
    #print Lk
    #print "pk"
    #print Pk
    # Setpoint
    sp = np.matrix([[0.9],[25000]]);
    #print "sp"
    #print sp
    # Initializing the controller
    controller = reg.MPCController(A, B, C, D, L, Q, R, Lk, Pk, Qn, Rn,	Umin, Umax, DeltaUmin, DeltaUmax,	optim = 1, fast = 0, time_varying = 1)
    #print "controller"
    #print controller
    return controller;


2fd384e42f360de0aa8e3a5aa8fd96e2fda22de3
<mask token>

<mask token>


def initialize_mpc():
    A = np.matrix([[0.968022]])
    B = np.matrix([[0.000154882, 0.00332278, 0.000285817]])
    C = np.matrix([[55811.1], [0.315664]])
    D = np.matrix([[0, 0, 0], [0, 0, 0]])
    L = 4
    Q = np.diag(np.tile(np.matrix([[100, 0.001]]), [1, L]).tolist()[0])
    R = np.diag(np.tile(np.matrix([[100, 100000, 100000]]), [1, L]).tolist()[0]
        )
    Umin = np.matrix([[1], [0], [0]])
    Umax = np.matrix([[99], [5], [5]])
    DeltaUmin = np.matrix([[-30], [-3], [-3]])
    DeltaUmax = np.matrix([[30], [3], [3]])
    Qn = np.diag(np.matrix([[1, 1, 1]]).tolist()[0])
    Rn = np.diag(np.matrix([[1, 1]]).tolist()[0])
    Lk = np.matrix([[1.73441e-05, 9.80971e-11]])
    Pk = np.matrix([[1.11468e-05]])
    sp = np.matrix([[0.9], [25000]])
    controller = reg.MPCController(A, B, C, D, L, Q, R, Lk, Pk, Qn, Rn,
        Umin, Umax, DeltaUmin, DeltaUmax, optim=1, fast=0, time_varying=1)
    return controller

import numpy as np
import libs.mpyc as reg


def initialize_mpc():
    A = np.matrix([[0.968022]])
    B = np.matrix([[0.000154882, 0.00332278, 0.000285817]])
    C = np.matrix([[55811.1], [0.315664]])
    D = np.matrix([[0, 0, 0], [0, 0, 0]])
    L = 4
    Q = np.diag(np.tile(np.matrix([[100, 0.001]]), [1, L]).tolist()[0])
    R = np.diag(np.tile(np.matrix([[100, 100000, 100000]]), [1, L]).tolist()[0]
        )
    Umin = np.matrix([[1], [0], [0]])
    Umax = np.matrix([[99], [5], [5]])
    DeltaUmin = np.matrix([[-30], [-3], [-3]])
    DeltaUmax = np.matrix([[30], [3], [3]])
    Qn = np.diag(np.matrix([[1, 1, 1]]).tolist()[0])
    Rn = np.diag(np.matrix([[1, 1]]).tolist()[0])
    Lk = np.matrix([[1.73441e-05, 9.80971e-11]])
    Pk = np.matrix([[1.11468e-05]])
    sp = np.matrix([[0.9], [25000]])
    controller = reg.MPCController(A, B, C, D, L, Q, R, Lk, Pk, Qn, Rn,
        Umin, Umax, DeltaUmin, DeltaUmax, optim=1, fast=0, time_varying=1)
    return controller

import numpy as np;
import libs.mpyc as reg;

def initialize_mpc():
    # System matrices
    A = np.matrix([[0.968022]]);
    B = np.matrix([[0.000154882,0.00332278,0.000285817]]);
    C = np.matrix([[55811.1],[0.315664]]);
    D = np.matrix([[0,0,0],[0,0,0]]);
    #print "a"
    #print A
    #print "b"
    #print B
    #print "c"
    #print C
    #print "d"
    #print D
    # Control parameters
    L = 4;
    Q = np.diag(np.tile(np.matrix([[100,0.001]]),[1,L]).tolist()[0]);
    R = np.diag(np.tile(np.matrix([[100,100000,100000]]),[1,L]).tolist()[0]);
    #print "q"
    #print Q
    #print "r"
    #print R

    # Control saturations
    Umin = np.matrix([[1],[0],[0]]);
    Umax = np.matrix([[99],[5],[5]]);
    DeltaUmin = np.matrix([[-30],[-3],[-3]]);
    DeltaUmax = np.matrix([[30],[3],[3]]);

    #print "umin"
    #print Umin
    #print "umax"
    #print Umax
    #print "deltaumin"
    #print DeltaUmin
    #print "deltaumax"
    #print DeltaUmax

    # Kalman filter matrices
    Qn = np.diag(np.matrix([[1,1,1]]).tolist()[0]);
    Rn = np.diag(np.matrix([[1,1]]).tolist()[0]);
    Lk = np.matrix([[1.73441e-05,9.80971e-11]]);
    Pk = np.matrix([[1.11468e-05]]);

    #print "qn"
    #print Qn
    #print "rn"
    #print Rn
    #print "lk"
    #print Lk
    #print "pk"
    #print Pk
    # Setpoint
    sp = np.matrix([[0.9],[25000]]);
    #print "sp"
    #print sp
    # Initializing the controller
    controller = reg.MPCController(A, B, C, D, L, Q, R, Lk, Pk, Qn, Rn,	Umin, Umax, DeltaUmin, DeltaUmax,	optim = 1, fast = 0, time_varying = 1)
    #print "controller"
    #print controller
    return controller;

