added : sim function for StateEstimator

Author: franckgaga

docs/src/public/sim_model.md

@@ -7,9 +7,9 @@ Pages = ["sim_model.md"]
 The [`SimModel`](@ref) types represents discrete state-space models that can be used to
 construct [`StateEstimator`](@ref)s and [`PredictiveController`](@ref)s, or as plant
 simulators by calling [`evaloutput`](@ref) and [`updatestate!`](@ref) methods on
-[`SimModel`](@ref) objects (to test estimator/controller designs). For time simulations, the
-states `x` are stored inside [`SimModel`](@ref) objects. Use [`setstate!`](@ref) method
-to manually modify them.
+[`SimModel`](@ref) instances (to test estimator/controller designs). For time simulations,
+the states `x` are stored inside [`SimModel`](@ref) instances. Use [`setstate!`](@ref)
+method to manually modify them.
 
 ## SimModel
 

example/juMPC.jl

@@ -151,14 +151,18 @@ using PlotThemes, Plots
 theme(:dark)
 default(fontfamily="Computer Modern"); scalefontsizes(1.1)
 
-test_mpc(linModel4, mpc)
+test_mpc(linModel4 , mpc)
 @time u_data, y_data, r_data, d_data = test_mpc(linModel4, mpc)
 
 
 res =  sim(mpc, mpc.Hp+10, x0=zeros(mpc.estim.model.nx))
 ps = plot(res, plotD=false, plotŶminŶmax=false, plotUminUmax=false)
 display(ps)
 
+res2 = sim(uscKalmanFilter1, mpc.Hp+10)
+ps2 = plot(res2)
+display(ps2)
+
 #=
 test_mpc(linModel4, nmpc)
 @time u_data, y_data, r_data, d_data = test_mpc(linModel4, nmpc)

src/ModelPredictiveControl.jl

@@ -19,7 +19,7 @@ export PredictiveController, LinMPC, NonLinMPC, setconstraint!, moveinput!, geti
 include("sim_model.jl")
 include("state_estim.jl")
 include("predictive_control.jl")
-include("plots.jl")
+include("plot_sim.jl")
 
 @setup_workload begin
     # Putting some things in `@setup_workload` instead of `@compile_workload` can reduce the size of the