call f, h function outside NonLinModel objects

Author: franckgaga

.vscode/settings.json

@@ -20,6 +20,7 @@
         "bmatrix",
         "bumpless",
         "csum",
+        "defaultcon",
         "deterpred",
         "Discretize",
         "EMPC",
@@ -43,6 +44,7 @@
         "mathrm",
         "moveinput",
         "nonlinmpc",
+        "nonlinprog",
         "optim",
         "OSQP",
         "Penrose",

example/juMPC.jl

@@ -1,13 +1,13 @@
 # spell-checker: disable
 
-using Pkg
-using Revise
-Pkg.activate(".")
+#using Pkg
+#using Revise
+#Pkg.activate(".")
 
 
 using ModelPredictiveControl
-using Preferences
-set_preferences!(ModelPredictiveControl, "precompile_workload" => false; force=true)
+#using Preferences
+#set_preferences!(ModelPredictiveControl, "precompile_workload" => false; force=true)
 
 
 #using JuMP, DAQP

src/controller/nonlinmpc.jl

@@ -270,8 +270,12 @@ function obj_nonlinprog(mpc::NonLinMPC, model::SimModel, ΔŨ::NTuple{N, T}) wh
     return JR̂y + JΔŨ + JR̂u + Jϵ + mpc.E*mpc.JE(UE, ŶE, D̂E)
 end
 
+
+function con_nonlinprog(mpc::NonLinMPC, ::LinModel, ΔŨ::NTuple{N, T}) where {N, T}
+    return zeros(T, 2*mpc.ny*mpc.Hp)
+end
 """
-    con_nonlinprog(mpc::NonLinMPC, model::SimModel, ΔŨ::NTuple{N, T}) where {N, T}
+    con_nonlinprog(mpc::NonLinMPC, model::NonLinModel, ΔŨ::NTuple{N, T}) where {N, T}
 
 TBW
 """
@@ -294,14 +298,14 @@ function con_nonlinprog(mpc::NonLinMPC, model::SimModel, ΔŨ::NTuple{N, T}) wh
     return C
 end
 
-function evalŶ(mpc, model, x̂d, d0, D̂0, U0::Vector{T}) where {T}
+function evalŶ(mpc::NonLinMPC, model::SimModel, x̂d, d0, D̂0, U0::Vector{T}) where {T}
     Ŷd0 = Vector{T}(undef, model.ny*mpc.Hp)
     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)
+        x̂d[:] = f(model, 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)
+        Ŷd0[(1 + model.ny*(j-1)):(model.ny*j)] = h(model, x̂d, d0)
     end
     return Ŷd0 + mpc.F # mpc.F = Yop + Ŷs
 end

src/predictive_control.jl

@@ -356,16 +356,16 @@ function initpred!(mpc::PredictiveController, model::LinModel, d, D̂, Ŷs, R̂
 end
 
 @doc raw"""
-    initpred!(mpc::PredictiveController, model::NonLinModel, d, D̂, Ŷs, R̂y )
+    initpred!(mpc::PredictiveController, model::SimModel, d, D̂, Ŷs, R̂y )
 
-Init `F`, `d0` and `D̂0` prediction matrices for [`NonLinModel`](@ref).
+Init `F`, `d0` and `D̂0` prediction matrices when model is not a [`LinModel`](@ref).
 
-For [`NonLinModel`](@ref), the constant matrix ``\mathbf{F = Ŷ_s + Y_{op}}``, thus it
+In such a case, the constant matrix is ``\mathbf{F = Ŷ_s + Y_{op}}``, thus it
 incorporates the stochastic predictions and the output operating point ``\mathbf{y_{op}}`` 
 repeated over ``H_p``. `d0` and `D̂0` are the measured disturbances and its predictions 
 without the operating points ``\mathbf{d_{op}}``.
 """
-function initpred!(mpc::PredictiveController, model::NonLinModel, d, D̂, Ŷs , R̂y )
+function initpred!(mpc::PredictiveController, model::SimModel, d, D̂, Ŷs , R̂y )
     mpc.F[:] = Ŷs + mpc.Yop
     if model.nd ≠ 0
         mpc.d0[:], mpc.D̂0[:] = d - model.dop, D̂ - mpc.Dop
@@ -392,12 +392,8 @@ function linconstraint!(mpc::PredictiveController, model::LinModel)
     set_normalized_rhs.(mpc.optim[:linconstraint], mpc.con.b[mpc.con.i_b])
 end
 
-@doc raw"""
-    linconstraint!(mpc::PredictiveController, model::NonLinModel)
-
-Set `b` that excludes predicted output ``\mathbf{Ŷ}`` constraints for [`NonLinModel`](@ref). 
-"""
-function linconstraint!(mpc::PredictiveController, model::NonLinModel)
+"Set `b` excluding predicted output constraints when `model` is not a [`LinModel`](@ref)."
+function linconstraint!(mpc::PredictiveController, model::SimModel)
     mpc.con.b[:] = [
         -mpc.con.Umin + mpc.T_Hc*(mpc.estim.lastu0 + model.uop)
         +mpc.con.Umax - mpc.T_Hc*(mpc.estim.lastu0 + model.uop)
@@ -870,14 +866,7 @@ function init_linconstraint(::LinModel,
     return A, i_b, b
 end
 
-@doc raw"""
-    init_linconstraint(model::NonLinModel,
-        A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, A_Ŷmin, A_Ŷmax,
-        i_Umin, i_Umax, i_ΔŨmin, i_ΔŨmax, i_Ŷmin, i_Ŷmax
-    )
-
-Init the values without predicted output constraints if `model` is not a [`LinModel`](@ref).
-"""
+"Init values without predicted output constraints if `model` is not a [`LinModel`](@ref)."
 function init_linconstraint(::SimModel,
     A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, _ , _ ,
     i_Umin, i_Umax, i_ΔŨmin, i_ΔŨmax, _ , _