rssalessio/pydeepc

Python library that implements DeePC: Data-Enabled Predictive Control

pydeepc's Issues

Update Hankel Matrix and low rank approximation

Describe the bug
I have a couple of questions:

1. The Hankel matrix is updating with the new data ? I saw in the code and it looks like that the Hankel matrix and the Up, Uf, Yp, Yf are not updating.
2. The Low rank matrix approximation function is not used ?
3. Finally, you may have an example of a MIMO system. The example you have for the two tanks is a plat with just one input and one output.

Thank you in advance.

Bug of the cvxpy variables with cp.reshape

Describe the bug
There is a small issue in deepc.py lines 139 and 140 with the following lines:
u = cp.reshape(u, (self.horizon, self.M))
y = cp.reshape(y, (self.horizon, self.P))
This may lead to a bug in the constraints when using multiple inputs or outputs, because the cp.reshape is Fortran type by default.

To Fix
This can be fixed by simply forcing the C type reshape as follows:
u = cp.reshape(u, (self.horizon, self.M), 'C')
y = cp.reshape(y, (self.horizon, self.P), 'C')

** Other comments**
Please do more tests if you can to make sure the reshape doesn't affect other things in the code.