modify Compat for ControlSystemsBase

Author: franckgaga

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "0.7.0"
+version = "0.7.1"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
@@ -16,7 +16,7 @@ Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 
 [compat]
-ControlSystemsBase = "1"
+ControlSystemsBase = "1.9"
 ForwardDiff = "0.10"
 Ipopt = "1"
 JuMP = "1"

docs/src/internals/state_estim.md

@@ -5,7 +5,6 @@
 ```@docs
 ModelPredictiveControl.init_estimstoch
 ModelPredictiveControl.augment_model
-ModelPredictiveControl.default_nint
 ModelPredictiveControl.init_ukf
 ModelPredictiveControl.init_internalmodel
 ```

docs/src/public/state_estim.md

@@ -75,3 +75,9 @@ ExtendedKalmanFilter
 ```@docs
 InternalModel
 ```
+
+## Default output integrator quantity
+
+```@docs
+default_nint
+```

src/ModelPredictiveControl.jl

@@ -14,7 +14,7 @@ import OSQP, Ipopt
 export SimModel, LinModel, NonLinModel, setop!, setstate!, updatestate!, evaloutput
 export StateEstimator, InternalModel, Luenberger
 export SteadyKalmanFilter, KalmanFilter, UnscentedKalmanFilter, ExtendedKalmanFilter
-export initstate!
+export default_nint, initstate!
 export PredictiveController, ExplicitMPC, LinMPC, NonLinMPC, setconstraint!, moveinput!
 export getinfo, sim!
 

src/controller/nonlinmpc.jl

@@ -386,7 +386,7 @@ end
 """
     con_nonlinprog(mpc::NonLinMPC, model::NonLinModel, ΔŨ::Vector{Real})
 
-Nonlinear constrains for [`NonLinMPC`](@ref) when `model` is not a [`LinModel`](ref).
+Nonlinear constrains for [`NonLinMPC`](@ref) when `model` is not a [`LinModel`](@ref).
 """
 function con_nonlinprog(mpc::NonLinMPC, ::SimModel, Ŷ, ΔŨ::Vector{T}) where {T<:Real}
     if !isinf(mpc.C) # constraint softening activated :

src/estimator/kalman.jl

@@ -119,7 +119,7 @@ The model augmentation with `nint_ym` vector adds integrators at model measured
 as state feedback. The method [`default_nint`](@ref) computes the default value of 
 `nint_ym`. It can also be tweaked by following these rules on each measured output:
 
-- Use 0 integrator if the model output is integrating (else it will be unobservable)
+- Use 0 integrator if the model output is already integrating (else it will be unobservable)
 - Use 1 integrator if the disturbances on the output are typically "step-like"
 - Use 2 integrators if the disturbances on the output are typically "ramp-like" 
 

src/predictive_control.jl

@@ -341,7 +341,7 @@ setstate!(mpc::PredictiveController, x̂) = (setstate!(mpc.estim, x̂); return m
 Init `mpc.ΔŨ` for warm-starting and the states of `mpc.estim` [`StateEstimator`](@ref).
 
 Before calling [`initstate!(::StateEstimator,_,_)`](@ref), it warm-starts ``\mathbf{ΔŨ}``:
-- If `model` is a [`LinModel`](ref), the vector is filled with the analytical minimum ``J``
+- If `model` is a [`LinModel`](@ref), the vector is filled with the analytical minimum ``J``
   of the unconstrained problem.
 - Else, the vector is filled with zeros.
 """

src/state_estim.jl

@@ -197,15 +197,27 @@ end
 augment_model(::SimModel, _ , _ ) = nothing
 
 @doc raw"""
-    default_nint(model::LinModel, i_ym)
+    default_nint(model::LinModel, i_ym=1:model.ny)
 
 Get default integrator quantity per measured outputs `nint_ym` for [`LinModel`](@ref).
 
-By default, one integrator is added on each measured outputs. If ``\mathbf{Â, Ĉ}`` 
-matrices of the augmented model becomes unobservable, the integrator is removed. This 
-approach works well for stable, integrating and unstable `model`.
+The measured output ``\mathbf{y^m}`` indices are specified by `i_ym` argument. By default, 
+one integrator is added on each measured outputs. If ``\mathbf{Â, Ĉ}`` matrices of the 
+augmented model becomes unobservable, the integrator is removed. This approach works well 
+for stable, integrating and unstable `model` (see Examples).
+
+# Examples
+```jldoctest
+julia> model = LinModel(append(tf(3, [10, 1]), tf(2, [1, 0]), tf(4,[-5, 1])), 1.0);
+
+julia> nint_ym = default_nint(model)
+3-element Vector{Int64}:
+ 1
+ 0
+ 1
+```
 """
-function default_nint(model::LinModel, i_ym)
+function default_nint(model::LinModel, i_ym::IntRangeOrVector = 1:model.ny)
     nint_ym = fill(0, length(i_ym))
     for i in eachindex(i_ym)
         nint_ym[i]  = 1
@@ -218,8 +230,12 @@ function default_nint(model::LinModel, i_ym)
     end
     return nint_ym
 end
-"One integrator per measured outputs by default if `model` is not a  [`LinModel`](@ref)."
-default_nint(::SimModel, i_ym) = fill(1, length(i_ym))
+"""
+    default_nint(model::SimModel, i_ym=1:model.ny)
+
+One integrator on each measured output by default if `model` is not a  [`LinModel`](@ref).
+"""
+default_nint(::SimModel, i_ym::IntRangeOrVector = 1:model.ny) = fill(1, length(i_ym))
 
 @doc raw"""
     f̂(estim::StateEstimator, x̂, u, d)