added : sim! function for SimModel type and doc

Author: franckgaga

Project.toml

@@ -11,6 +11,7 @@ LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 OSQP = "ab2f91bb-94b4-55e3-9ba0-7f65df51de79"
 PreallocationTools = "d236fae5-4411-538c-8e31-a6e3d9e00b46"
 PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
+Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 
 [compat]

docs/src/public/generic_func.md

@@ -31,5 +31,5 @@ setstate!
 ## Quick Simulation
 
 ```@docs
-sim
+sim!
 ```

example/juMPC.jl

@@ -154,12 +154,15 @@ default(fontfamily="Computer Modern"); scalefontsizes(1.1)
 test_mpc(linModel4 , mpc)
 @time u_data, y_data, r_data, d_data = test_mpc(linModel4, mpc)
 
+resM = sim!(nonLinModel2, mpc.Hp+10, [1,-1])
+psM  = plot(resM)
+display(psM)
 
-res =  sim(mpc, mpc.Hp+10, x0=zeros(mpc.estim.model.nx))
+res = sim!(mpc, mpc.Hp+10)
 ps = plot(res)
 display(ps)
 
-res2 = sim(uscKalmanFilter1, mpc.Hp+10)
+res2 = sim!(uscKalmanFilter1, mpc.Hp+10)
 ps2 = plot(res2)
 display(ps2)
 

src/ModelPredictiveControl.jl

@@ -2,7 +2,7 @@ module ModelPredictiveControl
 
 using PrecompileTools
 
-using LinearAlgebra
+using LinearAlgebra, Random
 using RecipesBase
 using ControlSystemsBase
 using JuMP
@@ -14,7 +14,7 @@ export SimModel, LinModel, NonLinModel, setop!, setstate!, updatestate!, evalout
 export StateEstimator, InternalModel
 export SteadyKalmanFilter, KalmanFilter, UnscentedKalmanFilter
 export initstate!
-export PredictiveController, LinMPC, NonLinMPC, setconstraint!, moveinput!, getinfo, sim
+export PredictiveController, LinMPC, NonLinMPC, setconstraint!, moveinput!, getinfo, sim!
 
 include("sim_model.jl")
 include("state_estim.jl")