v1.4.1

ModelPredictiveControl v1.4.1

Diff since v1.4.0

• debug: correct @error message for MPC when not solved (it was the MHE message)
• debug: allow LinModel linearization (useless, only for consistency among SimModel types)
• test: new tests with MultipleShooting for coverage
• doc: minor improvements

Merged pull requests:

• test for MultipleShooting and doc improvements (#166) (@franckgaga)
• add new feature to readme (#167) (@franckgaga)
• Minor doc corrections + allow LinModel linearization (#168) (@franckgaga)
• debug: correct @error msg for MPC not solved (#169) (@franckgaga)
• changed: moved equality constraint function to transcription.jl and bump (#170) (@franckgaga)

v1.4.0

ModelPredictiveControl v1.4.0

Diff since v1.3.5

Merged pull requests:

• added: multiple shooting transcription for LinMPC and NonLinMPC (#155) (@franckgaga)

Closed issues:

• Multiple shooting transcription (#140)

v1.3.5

ModelPredictiveControl v1.3.5

Diff since v1.3.4

• added: linearize! is allocation-free once again
• changed: re-worked AD buffers to prepare the ground for DifferentiationInterface.jl

Merged pull requests:

• added: linearize! is allocation-free once again (#165) (@franckgaga)

Closed issues:

• Add support for a simple stiff solver similar to SimpleColloc in SeeToDee.jl (#129)

v1.3.4

ModelPredictiveControl v1.3.4

Diff since v1.3.3

• debug: all fields of NonLinModel are now concrete types

Merged pull requests:

• debug: NonLinModel fields are now all concrete types (#161) (@franckgaga)

v1.3.3

ModelPredictiveControl v1.3.3

Diff since v1.3.2

• debug: revert allocation-free linearize! to avoid NonLinModel type-instabilities

Merged pull requests:

• debug: revert allocation-free linearize! to avoid NonLinModel type-instability (#160) (@franckgaga)

v1.3.2

ModelPredictiveControl v1.3.2

Diff since v1.3.1

• added: update test for new VS code test framework
• debug: fallback if nonfinite arr. cov. after correction/update
• debug: add busywait arg to periodsleep for StateEstimator and PredictiveController
• changed: @error instead of @warn in MHE fallback for arrival covariance
• changed: update CI and test on pre instead of nightly
• changed: simpler code for stochastic predictions of InternalModel

Merged pull requests:

• changed: @error instead of @warn in MHE arrival covariance fallback + update CI (#154) (@franckgaga)
• debug: fallback if nonfinite arr. cov. after correction/update (#156) (@franckgaga)
• changed: simpler code for stochastic predictions of InternalModel (#157) (@franckgaga)
• update test for new VS code test framework (#158) (@franckgaga)
• bump (#159) (@franckgaga)

v1.3.1

ModelPredictiveControl v1.3.1

Diff since v1.3.0

• added: show @debug messages in github CI if debug logging is activated
• changed: @debug messages with the getinfo dictionary are never truncated (show_limited=false is no longer necessary)

Merged pull requests:

• added: show @debug message in CI if debug logging is activated (#153) (@franckgaga)

v1.3.0

ModelPredictiveControl v1.3.0

Diff since v1.2.0

• added: show getinfo dictionary in the debug log if activated (instead of only the solution summary of JuMP)
• added: show tips about debug log in the optimization warning and error messages
• debug: fallback if MovingHorizonEstimator arrival covariance update fails (keep the old one)
• changed: covariance matrix inversion with cholesky instead of inv in MovingHorizonEstimator (inv internally uses lu)

Merged pull requests:

• doc: torques constraints AND power constraint in the example (manual) (#150) (@franckgaga)
• debug: fallback if MovingHorizonEstimator arrival covariance update fails (#151) (@franckgaga)
• added: call getinfo when debug logging is activated and not solved (#152) (@franckgaga)

Closed issues:

• Error on execution of doc example (#146)

v1.2.0

ModelPredictiveControl v1.2.0

Diff since v1.1.4

• added: ForwardEuler ODE solver
• added: remove 1 useless .= op in RungeKutta(4)
• added: forcing specialization in the NLP functions by using Vararg{T, N} instead of splatting (see this tip)
• added: skipping computations in extended_predictions when possible
• added: print the solver order for NonLinModel
• changed: bump julia compat to 1.10 (new LTS)
• changed: improve code reuse in NLP functions to improve code maintainability
• test: new tests for ForwardEuler
• doc: info about types that allocate or not

Merged pull requests:

• removing commented out code (#144) (@franckgaga)
• added: new ForwardEuler solver with 0 allocation (#145) (@franckgaga)
• bump julia compat to 1.10 (LTS) (#147) (@franckgaga)
• Added: slightly speed up NonLinMPC and MovingHorizonEstimator (#149) (@franckgaga)

v1.1.4

ModelPredictiveControl v1.1.4

Diff since v1.1.3

• added: linearize! is now allocation free
• added: do not call gc! if nc==0
• added: new mpc.buffer.ΔŨ buffer to reduce the allocations
• changed: preparestate! default d argument as empty vector
• various doc improvements

Merged pull requests:

• changed: preparestate! default d argument as empty vector (#137) (@franckgaga)
• added: do not call gc! if nc==0 (#138) (@franckgaga)
• added: reduce allocations for PredictiveController (#139) (@franckgaga)
• added: linearize! is now allocation free (#141) (@franckgaga)
• Update Project.toml (#143) (@franckgaga)