v0.15.0

ModelPredictiveControl v0.15.0

Diff since v0.14.1

• added: MHE hard constraints on estimated process and sensor noises
• added: MHEs based on LinModel are now treated as a quadratic optimization instead of nonlinear
• added: Plots recipe avoid repeat xlabels for MIMOs
• added: getinfo method for MovingHorzionEstimator for troubleshooting
• debug: update MHE arrival covariance with I/Os at arrival
• improved coverage

Merged pull requests:

• Added: MHE with quadratic optim + process and sensor noises bounds (#20) (@franckgaga)

v0.14.1

ModelPredictiveControl v0.14.1

Diff since v0.14.0

• changed: default P0 value not function of Q argument

v0.14.0

ModelPredictiveControl v0.14.0

Diff since v0.13.0

• added: MovingHorizonEstimator that can handle constraints on estimation
• added: tests for MovingHorizonEstimator

Merged pull requests:

• Added: MovingHorizonEstimator with state constraints (#19) (@franckgaga)

v0.13.0

ModelPredictiveControl v0.13.0

Diff since v0.12.0

• added: generic number types in all SimModel, StateEstimator and PredictiveController objects (see note below)
• changed: faster ΔU -> U conversion using matrices of floats (instead of booleans)
• new tests with Float32.

Note that most solvers in JuMP only support Float64 numbers. Thus, PredictiveController objects still default to Float64-based optimizers, even if the plant model or state estimator uses other number types.

Merged pull requests:

• Support non-Float64 numbers in all objects (#17) (@franckgaga)

v0.12.0

ModelPredictiveControl v0.12.0

Diff since v0.11.2

• added: linearization of NonLinModel based on ForwardDiff.jl
• doc: example of linearize on the pendulum
• doc: example of solving MPC with unstable plant model using DAQP
• tests for linearize function

v0.11.2

ModelPredictiveControl v0.11.2

Diff since v0.11.0

• added : time-varying weights over horizons
• tests for time-varying weights

v0.11.1

ModelPredictiveControl v0.11.1

Diff since v0.11.0

• Remove bridges in default JuMP optimizers
• added: Solving time limit at Ts by default
• reduce allocation for KalmanFilter
• reduce allocation for NonLinMPC
• debug : update current output estimation ŷ in ŶE argument of economic function JE

v0.11.0

ModelPredictiveControl v0.11.0

Diff since v0.10.3

• Doc : add an economic MPC example on the inverted pendulum
• Doc : update figures for the CSTR and the pendulum
• Added : error log when the termination status means "no solution available"
• Added : more precise log in REPL (warning: we keep the solution anyway, error: we take the last solution)
• Added : do not compute input setpoints R̂u if mpc.noR̂u
• Changed : time-varying ECR parameters with a capital C

v0.10.3

ModelPredictiveControl v0.10.3

Diff since v0.10.2

• Debug: terminal constraints on NonLinMPC now work
• Added: unit tests for terminal constraints on NonLinMPC
• Added: reduce allocation for NonLinMPC based on NonLinModel

v0.10.2

ModelPredictiveControl v0.10.2

Diff since v0.10.1

• Added: plant instrumentation figures in manual
• default_nint returns 0 with nint_u for NonLinModel