TZDDPC - Tube-Based Zonotopic Data Driven Predictive Control

Code for the paper Tube-Based Zonotopic Data-Driven Predictive Control.

Author: Alessio Russo (alessior@kth.se) License: MIT

Requirements

To run the examples you need the following libraries: numpy scipy cvxpy dccp pyzpc pyzonotope matplotlib pydatadrivenreachability

• The PyZPC library can be found here
• The PyZonotope library can be found here
• The pydatadrivenreachability library can be found here

Example

To run the example, run the file 1.double_integrator_sim.py in the folder examples.

Computational complexity

To estimate the computational complexity, run the file 1.double_integrator_run_sim_computational_complexity.sh, which will automatically run all the experiments. Use the notebook 1.double_integrator_results_computational_complexity.ipynb to print the results.

Other examples

Check also the example on a mechanical pulley examples/2.pulley_sim.py (4 dimensional) or on a 5-dimensional system examples/3.5dimsystem_sim.py.