evo-r2r-mpc-controller

MPC controller for 6-section R2R system with reference step tracking.

Usage

import sys
sys.path.insert(0, '/app/environment/skills/evo-r2r-mpc-controller/scripts')
from utils import (
    build_prediction_matrices,
    build_qp_matrices,
    solve_mpc_step,
    run_simulation_loop,
    compute_performance_metrics,
    save_output_files
)

Key Functions

• build_prediction_matrices(Ad, Bd, N) - Build Phi and Gamma matrices
• build_qp_matrices(Phi, Gamma, Q, R_mat, P, N) - Build QP Hessian and gradient
• solve_mpc_step(H, F, dx, N, nu) - Solve one MPC step (unconstrained)
• run_simulation_loop(sim, linearize_fn, get_ref_fn, Q, R_mat, N, num_steps) - Full sim loop
• compute_performance_metrics(log_data, T_ref_final) - Compute SSE, settling time, etc.
• save_output_files(controller_params, log_data, metrics) - Save all 3 JSON files

Output Files

• controller_params.json: A_matrix (continuous), B_matrix (continuous), K_lqr, Q_diag, R_diag, horizon_N
• control_log.json: phase="control", data array with time/tensions/velocities/control_inputs/references
• metrics.json: steady_state_error, settling_time, max_tension, min_tension