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minor doc correction
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+14
-14
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5 files changed

+14
-14
lines changed

src/estimator/internal_model.jl

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -147,7 +147,7 @@ function init_internalmodel(As, Bs, Cs, Ds)
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end
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149149
@doc raw"""
150-
update_estimate!(estim::InternalModel, u, ym, d=Float64[])
150+
update_estimate!(estim::InternalModel, u, ym, d=Float64[]) -> x̂d
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152152
Update `estim.x̂` \ `x̂d` \ `x̂s` with current inputs `u`, measured outputs `ym` and dist. `d`.
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@@ -175,7 +175,7 @@ function update_estimate!(estim::InternalModel, u, ym, d=Float64[])
175175
end
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177177
@doc raw"""
178-
initstate!(estim::InternalModel, u, ym, d=Float64[])
178+
initstate!(estim::InternalModel, u, ym, d=Float64[]) -> x̂d
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180180
Init `estim.x̂d` / `x̂s` states from current inputs `u`, meas. outputs `ym` and disturb. `d`.
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@@ -192,7 +192,7 @@ function initstate!(estim::InternalModel, u, ym, d=Float64[])
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end
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194194
@doc raw"""
195-
evaloutput(estim::InternalModel, ym, d=Float64[])
195+
evaloutput(estim::InternalModel, ym, d=Float64[]) -> ŷ
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Evaluate `InternalModel` outputs `ŷ` from `estim.x̂d` states and measured outputs `ym`.
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src/plot_sim.jl

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@ struct SimResult{O<:Union{SimModel, StateEstimator, PredictiveController}}
1313
end
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1515
@doc raw"""
16-
sim!(plant::SimModel, N::Int, u=plant.uop.+1, d=plant.dop; x0=zeros(plant.nx))
16+
sim!(plant::SimModel, N::Int, u=plant.uop.+1, d=plant.dop; x0=zeros(plant.nx)) -> res
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Open-loop simulation of `plant` for `N` time steps, default to unit bump test on all inputs.
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@@ -66,7 +66,7 @@ end
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u = estim.model.uop .+ 1,
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d = estim.model.dop;
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<keyword arguments>
69-
)
69+
) -> res
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Closed-loop simulation of `estim` estimator for `N` time steps, default to input bumps.
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@@ -120,7 +120,7 @@ end
120120
ry = mpc.estim.model.yop .+ 1,
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d = mpc.estim.model.dop;
122122
<keyword arguments>
123-
)
123+
) -> res
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Closed-loop simulation of `mpc` controller for `N` time steps, default to setpoint bumps.
126126

src/predictive_control.jl

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -336,11 +336,11 @@ Set the estimate at `mpc.estim.x̂`.
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setstate!(mpc::PredictiveController, x̂) = (setstate!(mpc.estim, x̂); return mpc)
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338338
@doc raw"""
339-
initstate!(mpc::PredictiveController, u, ym, d=Float64[])
339+
initstate!(mpc::PredictiveController, u, ym, d=Float64[]) -> x̂
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341341
Init `mpc.ΔŨ` for warm-starting and the states of `mpc.estim` [`StateEstimator`](@ref).
342342
343-
Before calling [`initstate!(::StateEstimator,_,_)`](@ref), it warm-starts ``\mathbf{ΔŨ}``:
343+
Before calling [`initstate!(mpc.estim, u, ym, d)`](@ref), it warm-starts ``\mathbf{ΔŨ}``:
344344
- If `model` is a [`LinModel`](@ref), the vector is filled with the analytical minimum ``J``
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of the unconstrained problem.
346346
- Else, the vector is filled with zeros.
@@ -352,7 +352,7 @@ end
352352

353353

354354
"""
355-
updatestate!(mpc::PredictiveController, u, ym, d=Float64[])
355+
updatestate!(mpc::PredictiveController, u, ym, d=Float64[]) -> x̂
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Call [`updatestate!`](@ref) on `mpc.estim` [`StateEstimator`](@ref).
358358
"""

src/sim_model.jl

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -99,7 +99,7 @@ function Base.show(io::IO, model::SimModel)
9999
end
100100

101101
"""
102-
updatestate!(model::SimModel, u, d=Float64[])
102+
updatestate!(model::SimModel, u, d=Float64[]) -> x
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Update `model.x` states with current inputs `u` and measured disturbances `d`.
105105
@@ -118,7 +118,7 @@ function updatestate!(model::SimModel, u, d=Float64[])
118118
end
119119

120120
"""
121-
evaloutput(model::SimModel, d=Float64[])
121+
evaloutput(model::SimModel, d=Float64[]) -> y
122122
123123
Evaluate `SimModel` outputs `y` from `model.x` states and measured disturbances `d`.
124124

src/state_estim.jl

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -270,7 +270,7 @@ end
270270

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272272
@doc raw"""
273-
initstate!(estim::StateEstimator, u, ym, d=Float64[])
273+
initstate!(estim::StateEstimator, u, ym, d=Float64[]) -> x̂
274274
275275
Init `estim.x̂` states from current inputs `u`, measured outputs `ym` and disturbances `d`.
276276
@@ -329,7 +329,7 @@ init_deterstate(model::LinModel, _ , u, d) = steadystate(model, u, d)
329329
init_deterstate(model::SimModel, estim, _, _) = estim.x̂[1:model.nx]
330330

331331
@doc raw"""
332-
evaloutput(estim::StateEstimator, d=Float64[])
332+
evaloutput(estim::StateEstimator, d=Float64[]) -> ŷ
333333
334334
Evaluate `StateEstimator` outputs `ŷ` from `estim.x̂` states and disturbances `d`.
335335
@@ -353,7 +353,7 @@ end
353353

354354

355355
@doc raw"""
356-
updatestate!(estim::StateEstimator, u, ym, d=Float64[])
356+
updatestate!(estim::StateEstimator, u, ym, d=Float64[]) -> x̂
357357
358358
Update `estim.x̂` estimate with current inputs `u`, measured outputs `ym` and dist. `d`.
359359

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