Train a control law to minimize an objective function over a series of external disturbances to a dynamical system.
cd src
go mod download
cd src
go run sim.go
- system state
x
- measured
- unmeasured
- predicted (over horizon)
- external disturbance
d
- measured
- unmeasured
- predicted (over horizon)
- plant function
dxdt = f(x, u, d)
- controlled parameter
u
Train an MPC or similar controller with various forcast horizons and learn the optimal commands u to minimize measured - predicted disturbance and an arbitrary objective function based on the plant's state.