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struct new field order
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src/predictive_control.jl

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -55,16 +55,16 @@ struct LinMPC{S<:StateEstimator} <: PredictiveController
5555
c_ΔUmax::Vector{Float64}
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c_Ŷmin ::Vector{Float64}
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c_Ŷmax ::Vector{Float64}
58+
A_Umin ::Matrix{Float64}
59+
A_Umax ::Matrix{Float64}
60+
A_ΔŨmin::Matrix{Float64}
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A_ΔŨmax::Matrix{Float64}
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A_Ŷmin ::Matrix{Float64}
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A_Ŷmax ::Matrix{Float64}
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S̃_Hp::Matrix{Bool}
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T_Hp::Matrix{Bool}
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S̃_Hc::Matrix{Bool}
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T_Hc::Matrix{Bool}
62-
A_Umin::Matrix{Float64}
63-
A_Umax::Matrix{Float64}
64-
A_ΔŨmin::Matrix{Float64}
65-
A_ΔŨmax::Matrix{Float64}
66-
A_Ŷmin::Matrix{Float64}
67-
A_Ŷmax::Matrix{Float64}
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::Matrix{Float64}
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G ::Matrix{Float64}
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J ::Matrix{Float64}
@@ -128,8 +128,8 @@ struct LinMPC{S<:StateEstimator} <: PredictiveController
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M_Hp, Ñ_Hc, L_Hp, Cwt, R̂u,
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Umin, Umax, ΔŨmin, ΔŨmax, Ŷmin, Ŷmax,
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c_Umin, c_Umax, c_ΔUmin, c_ΔUmax, c_Ŷmin, c_Ŷmax,
131-
S̃_Hp, T_Hp, S̃_Hc, T_Hc,
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A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, A_Ŷmin, A_Ŷmax,
132+
S̃_Hp, T_Hp, S̃_Hc, T_Hc,
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Ẽ, G, J, Kd, Q, P̃,
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Ks, Ps,
135135
Yop, Dop,
@@ -288,16 +288,16 @@ struct NonLinMPC{S<:StateEstimator, JEFunc<:Function} <: PredictiveController
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c_ΔUmax::Vector{Float64}
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c_Ŷmin ::Vector{Float64}
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c_Ŷmax ::Vector{Float64}
291+
A_Umin ::Matrix{Float64}
292+
A_Umax ::Matrix{Float64}
293+
A_ΔŨmin::Matrix{Float64}
294+
A_ΔŨmax::Matrix{Float64}
295+
A_Ŷmin ::Matrix{Float64}
296+
A_Ŷmax ::Matrix{Float64}
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S̃_Hp::Matrix{Bool}
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T_Hp::Matrix{Bool}
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S̃_Hc::Matrix{Bool}
294300
T_Hc::Matrix{Bool}
295-
A_Umin::Matrix{Float64}
296-
A_Umax::Matrix{Float64}
297-
A_ΔŨmin::Matrix{Float64}
298-
A_ΔŨmax::Matrix{Float64}
299-
A_Ŷmin::Matrix{Float64}
300-
A_Ŷmax::Matrix{Float64}
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::Matrix{Float64}
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G ::Matrix{Float64}
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J ::Matrix{Float64}
@@ -359,8 +359,8 @@ struct NonLinMPC{S<:StateEstimator, JEFunc<:Function} <: PredictiveController
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M_Hp, Ñ_Hc, L_Hp, Cwt, Ewt, JE, R̂u,
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Umin, Umax, ΔŨmin, ΔŨmax, Ŷmin, Ŷmax,
361361
c_Umin, c_Umax, c_ΔUmin, c_ΔUmax, c_Ŷmin, c_Ŷmax,
362-
S̃_Hp, T_Hp, S̃_Hc, T_Hc,
363362
A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, A_Ŷmin, A_Ŷmax,
363+
S̃_Hp, T_Hp, S̃_Hc, T_Hc,
364364
Ẽ, G, J, Kd, Q,
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Ks, Ps,
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Yop, Dop,

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