Package for non-linear control and estimation.
Project description
pyNLControl
pyNLCOntrol is a package to solve general estimation and control problem (including non-linear problem). Further, it also provides different method for analysis of dynamic system. This package is based on \texttt{CasADi} for python (https://web.casadi.org/). This means problem should be formulated in CasADi.
Requirements
- python >= 3.6 (might work on older version of python3, not tested)
- casadi>=3.5.5 and jinja2>=3.0.2
pip install casadi jinja2
Installations
pip install pyNLControl
Supported control and estimator
- Estimators: Kalman filter, Extended Kalman Filter, Unscented Kalman Filter and simple moving horizon estimators. Partical filter, advanced moving horizon estimator, etc will be added soon.
- Control: LQR only. Other controllers including nonlinear Model Predictive Control will be added soon
- Misc: Nonlinear observability analysis, Noise covariance identification will be added soon
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