v0.16.1

ModelPredictiveControl v0.16.1

Diff since v0.16.0

• added: reduce allocation NonLinMPC
• doc: added internal function optim_objective
• doc: various doc improvements

v0.16.0

ModelPredictiveControl v0.16.0

Diff since v0.15.0

• added: MHE soft constraints with a single slack variable ϵ (a.k.a. equal concern for relaxation, disabled by default thus only hard constraints).
• changed: more concise MPC logging in REPL.
• removed: deprecated arguments for setconstraint! and NonLinMPC.
• doc: hide extended help with details admonition.
• doc: more concise setconstraint! and ExplicitMPC documentation.

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