From 72e05737773ef37ef75e0c375084e44c6506540b Mon Sep 17 00:00:00 2001 From: franckgaga Date: Sat, 3 Jan 2026 10:38:05 -0500 Subject: [PATCH 1/3] doc: minor correction --- src/model/linmodel.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/model/linmodel.jl b/src/model/linmodel.jl index dd4dd741b..a1f86e76d 100644 --- a/src/model/linmodel.jl +++ b/src/model/linmodel.jl @@ -136,7 +136,7 @@ LinModel with a sample time Ts = 0.1 s: It is assumed that ``\mathbf{D_u=0}`` (or `sys` is strictly proper) since otherwise the resulting discrete controller would be acausal in its implementation (≠ mathematical - causality). Indeed, at each sampling instant `k`, the predictive controller will: + causality). Indeed, at each sampling instant ``k``, the predictive controller will: 1. sample an output ``\mathbf{y}(k)`` from the plant 2. computes an action ``\mathbf{u}(k)`` and From a028495986b909ce22e149f67300b580a8c80404 Mon Sep 17 00:00:00 2001 From: franckgaga Date: Sat, 3 Jan 2026 10:58:47 -0500 Subject: [PATCH 2/3] test: non-deadbeat response in move blocking tests --- test/3_test_predictive_control.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/3_test_predictive_control.jl b/test/3_test_predictive_control.jl index 6f9970c5d..6228e3560 100644 --- a/test/3_test_predictive_control.jl +++ b/test/3_test_predictive_control.jl @@ -1480,7 +1480,7 @@ end f = (x, u, _, p) -> p.A * x + p.Bu * u h = (x, _, p) -> p.C * x nonlinmodel = NonLinModel(f, h, 100.0, 1, 1, 1, p=linmodel, solver=nothing) - Mwt, Nwt, Hp, Hc = [1], [0], 30, [1, 2, 3, 24] + Mwt, Nwt, Hp, Hc = [1], [0], 30, [2, 2, 3, 23] N = 25 mpc1 = LinMPC(linmodel; Mwt, Nwt, Hp, Hc, transcription=SingleShooting()) mpc2 = LinMPC(linmodel; Mwt, Nwt, Hp, Hc, transcription=MultipleShooting()) From 21e468866272c54ba061a842b3eaf848d7e86f98 Mon Sep 17 00:00:00 2001 From: franckgaga Date: Sat, 3 Jan 2026 11:05:18 -0500 Subject: [PATCH 3/3] test: idem --- test/3_test_predictive_control.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/3_test_predictive_control.jl b/test/3_test_predictive_control.jl index 6228e3560..78c4d35ab 100644 --- a/test/3_test_predictive_control.jl +++ b/test/3_test_predictive_control.jl @@ -1480,7 +1480,7 @@ end f = (x, u, _, p) -> p.A * x + p.Bu * u h = (x, _, p) -> p.C * x nonlinmodel = NonLinModel(f, h, 100.0, 1, 1, 1, p=linmodel, solver=nothing) - Mwt, Nwt, Hp, Hc = [1], [0], 30, [2, 2, 3, 23] + Mwt, Nwt, Hp, Hc = [1], [0], 30, [2, 3, 4, 21] N = 25 mpc1 = LinMPC(linmodel; Mwt, Nwt, Hp, Hc, transcription=SingleShooting()) mpc2 = LinMPC(linmodel; Mwt, Nwt, Hp, Hc, transcription=MultipleShooting())