mpc
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gasagna
A pure Python module for simulating discrete-time linear time-invariant dynamic systems controlled with a model predictive controller.
General information
mpc is a pure Python module for the simulation of discrete-time linear time-invariant dynamic systems which can be controlled by a model predictive controller (MPC) or an infinite horizon linear-quadratic controller (LQ). Simulation of non-linear system can also be performed.
The project was started from code initially written "to scratch an itch", obviously withouth the aim of being a valid alternative to available control software (Matlab). Infact, mpc was primarily created to be a research tool and can be used in reserach and teaching. So, don't expect too much!
NOTICE
A model predictive controller is not yet available as this is alpha software. However, some nice things can be done.
Installation and requirements
mpc is built on top of high quality software such as:
-
python <http://python.org/>_ -
scipy <http://numpy.scipy.org/>_ -
numpy <http://www.scipy.org/>_
I am not aware of which versions of the above is at least required to make mpc work, but you should probably get good results with python => 2.6, scipy => 0.8, numpy => 1.5.
Furthermore an additional dependency is required:
-
pydare <http://code.google.com/p/pydare/>_
As of now mpc is under development but the master branch on GitHub <https://github.com/gasagna/mpc/>_ should be working. Soon, a stable release will be made available.
Examples of usage
There are some examples in the mpc/examples folder which may be helpful to get started.
Bug reporting and support
The code is hosted at GitHub <https://github.com/gasagna/mpc/>_ where you can open a new issue
if you find a bug.
Copyright
Copyright (C) 2011 Davide Lasagna [email protected]
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.
A full version of the license terms is available in LICENSE.
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