Merge branch 'main' into new_jump_nlp_syntax

Author: franckgaga

.github/workflows/DocCleanup.yml

@@ -0,0 +1,28 @@
+name: Doc Preview Cleanup
+
+on:
+  pull_request:
+    types: [closed]
+
+jobs:
+  doc-preview-cleanup:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout gh-pages branch
+        uses: actions/checkout@v2
+        with:
+          ref: gh-pages
+
+      - name: Delete preview and history
+        run: |
+            git config user.name "Documenter.jl"
+            git config user.email "documenter@juliadocs.github.io"
+            git rm -rf "previews/PR$PRNUM"
+            git commit -m "delete preview"
+            git branch gh-pages-new $(echo "delete history" | git commit-tree HEAD^{tree})
+        env:
+            PRNUM: ${{ github.event.number }}
+
+      - name: Push changes
+        run: |
+            git push --force origin gh-pages-new:gh-pages

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "0.20.1"
+version = "0.21.2"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
@@ -12,6 +12,7 @@ LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 OSQP = "ab2f91bb-94b4-55e3-9ba0-7f65df51de79"
 PreallocationTools = "d236fae5-4411-538c-8e31-a6e3d9e00b46"
 PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
+ProgressLogging = "33c8b6b6-d38a-422a-b730-caa89a2f386c"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 
@@ -24,15 +25,16 @@ LinearAlgebra = "1.6"
 OSQP = "0.8"
 PreallocationTools = "0.4"
 PrecompileTools = "1"
+ProgressLogging = "0.1"
 Random = "1.6"
 RecipesBase = "1"
 julia = "1.6"
 
 [extras]
+DAQP = "c47d62df-3981-49c8-9651-128b1cd08617"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
-DAQP = "c47d62df-3981-49c8-9651-128b1cd08617"
 
 [targets]
 test = ["Test", "Documenter", "Plots", "DAQP"]

README.md

@@ -85,8 +85,12 @@ for more detailed examples.
   - [x] input setpoint tracking
   - [x] terminal costs
   - [x] economic costs (economic model predictive control)
+- [ ] adaptive linear model predictive controller
+  - [x] manual model modification
+  - [x] automatic successive linearization of a nonlinear model
+  - [ ] objective function weights modification
 - [x] explicit predictive controller for problems without constraint
-- [x] soft and hard constraints on:
+- [x] online-tunable soft and hard constraints on:
   - [x] output predictions
   - [x] manipulated inputs
   - [x] manipulated inputs increments
@@ -126,7 +130,7 @@ for more detailed examples.
 - [x] moving horizon estimator in two formulations:
   - [x] linear plant models (quadratic optimization)
   - [x] nonlinear plant models (nonlinear optimization)
-- [x] moving horizon estimator soft and hard constraints on:
+- [x] moving horizon estimator online-tunable soft and hard constraints on:
   - [x] state estimates
   - [x] process noise estimates
   - [x] sensor noise estimates