wecopttool.pto.controller_unstructured

controller_unstructured(pto, wec, x_wec, x_opt, waves=None, nsubsteps=1)[source]

Unstructured numerical optimal controller that returns a time history of PTO forces.

Parameters:

pto (PTO) – wecopttool.pto.PTO object.
wec (WEC) – wecopttool.WEC object.
x_wec (ndarray) – WEC dynamic state.
x_opt (ndarray) – Optimization (control) state.
waves (Dataset | None) – xarray.Dataset with the structure and elements shown by wecopttool.waves.
nsubsteps (int | None) – Number of steps between the default (implied) time steps. A value of 1 corresponds to the default step length.

Return type:

ndarray