debug setconstraint!

franckgaga · franckgaga · commit 9fddfef3d1e5 · 2023-05-30T17:55:24.000-04:00
diff --git a/src/predictive_control.jl b/src/predictive_control.jl
@@ -97,7 +97,7 @@ function setconstraint!(
 )
     model = mpc.estim.model
     con = mpc.con
-    nu, ny = model.ny, model.ny
+    nu, ny = model.nu, model.ny
     Hp, Hc = mpc.Hp, mpc.Hc
     C, E = mpc.C, mpc.Ẽ[:, 1:nu*Hc]
     if !isnothing(umin)
