debug : copy xhatd vector before computing the predictions

Author: franckgaga

src/controller/nonlinmpc.jl

@@ -296,14 +296,14 @@ end
 
 function evalŶ(mpc, model, x̂d, d0, D̂0, U0::Vector{T}) where {T}
     Ŷd0 = Vector{T}(undef, model.ny*mpc.Hp)
-    x̂d::Vector{T} = x̂d
+    x̂d::Vector{T} = copy(x̂d)
     for j=1:mpc.Hp
         u0    = U0[(1 + model.nu*(j-1)):(model.nu*j)]
         x̂d[:] = model.f(x̂d, u0, d0)
         d0    = D̂0[(1 + model.nd*(j-1)):(model.nd*j)]
         Ŷd0[(1 + model.ny*(j-1)):(model.ny*j)] = model.h(x̂d, d0)
     end
-    return Ŷd0 + mpc.F
+    return Ŷd0 + mpc.F # mpc.F = Yop + Ŷs
 end
 
 """