Merge pull request #299 from JuliaControl/debug_terminal_softness

debug: default terminal constraint softness parameters `c_x̂min`/`max` equal to 1

Author: franckgaga

Project.toml

@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "1.14.2"
+version = "1.14.3"
 authors = ["Francis Gagnon"]
 
 [deps]

src/controller/construct.jl

@@ -661,8 +661,8 @@ function init_defaultcon_mpc(
     x̂0min,      x̂0max   = fill(convert(NT,-Inf), nx̂), fill(convert(NT,+Inf), nx̂)
     c_umin,     c_umax  = fill(zero(NT), nu), fill(zero(NT), nu)
     c_Δumin,    c_Δumax = fill(zero(NT), nu), fill(zero(NT), nu)
-    c_ymin,     c_ymax  = fill(one(NT),  ny), fill(one(NT),  ny)
-    c_x̂min,     c_x̂max  = fill(zero(NT), nx̂), fill(zero(NT), nx̂)
+    c_ymin,     c_ymax  = fill(one(NT), ny),  fill(one(NT), ny)
+    c_x̂min,     c_x̂max  = fill(one(NT), nx̂),  fill(one(NT), nx̂)
     U0min, U0max, ΔUmin, ΔUmax, Y0min, Y0max = 
         repeat_constraints(Hp, Hc, u0min, u0max, Δumin, Δumax, y0min, y0max)
     C_umin, C_umax, C_Δumin, C_Δumax, C_ymin, C_ymax = 

test/3_test_predictive_control.jl

@@ -244,6 +244,16 @@ end
     model = LinModel(sys, Ts, i_d=[3])
     mpc = LinMPC(model, Hp=1, Hc=1)
 
+    # test default constraints before modifying any:
+    @test all((mpc.con.U0min, mpc.con.U0max) .≈ (fill(-Inf, model.nu), fill(Inf, model.nu)))
+    @test all((mpc.con.ΔŨmin, mpc.con.ΔŨmax) .≈ (vcat(fill(-Inf, model.nu), 0), vcat(fill(Inf, model.nu), Inf)))
+    @test all((mpc.con.Y0min, mpc.con.Y0max) .≈ (fill(-Inf, model.ny), fill(Inf, model.ny)))
+    @test all((mpc.con.x̂0min, mpc.con.x̂0max) .≈ (fill(-Inf, mpc.estim.nx̂), fill(Inf, mpc.estim.nx̂)))
+    @test all((-mpc.con.A_Umin[:, end], -mpc.con.A_Umax[:, end]) .≈ (fill(0.0, model.nu), fill(0.0, model.nu)))
+    @test all((-mpc.con.A_ΔŨmin[1:end-1, end], -mpc.con.A_ΔŨmax[1:end-1, end]) .≈ (fill(0.0, model.nu), fill(0.0, model.nu)))
+    @test all((-mpc.con.A_Ymin[:, end], -mpc.con.A_Ymax[:, end]) .≈ (fill(1.0, model.ny), fill(1.0, model.ny)))
+    @test all((-mpc.con.A_x̂min[:, end], -mpc.con.A_x̂max[:, end]) .≈ (fill(1.0, mpc.estim.nx̂), fill(1.0, mpc.estim.nx̂)))
+
     setconstraint!(mpc, umin=[-5, -9.9], umax=[100,99])
     @test all((mpc.con.U0min, mpc.con.U0max) .≈ ([-5, -9.9], [100,99]))
     setconstraint!(mpc, Δumin=[-5,-10], Δumax=[6,11])