feature list added

Author: franckgaga

docs/src/index.md

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 ## Features
 
-### Predictive Control
+### Model Predictive Control
 
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+- linear and nonlinear plant models using a unified structure and multiple dispatch
+- support for linear model predictions based on matrix algebra in a nonlinear controller
+  (e.g. economic optimization of a linear process model)
+- supported criterion terms : output setpoint tracking, move suppression, input setpoint
+  tracking and additional custom penalty (e.g. economic costs)
+- constraints on output predictions, manipulated inputs and manipulated inputs increments
+  that all support softening
+- custom manipulated input constraints that are a function of the predictions
+- supported feedback strategy : internal model structure with custom stochastic model or
+  state estimator (see State Estimation features)
+- offset-free tracking with a single or multiple integrators on each measured output
+- support for unmeasured model outputs
+- feedforward action with measured disturbances that supports direct transmission
+- custom predictions for output setpoints and measured disturbances
+- get additional information about the optimal input to ease troubleshooting : optimal
+  output predictions, slack variable optimum, optimal input increments over control horizon,
+  objective function minimum, custom penalty optimum, etc.
 
 ### State Estimation
 
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+- supported state estimators/observers :
+  - steady-state Kalman filter
+  - Kalman filter
+  - Luenberger observer
+  - internal model structure
+  - unscented Kalman filter
+  - moving horizon estimator
+- observers in the predictor form to facilitate predictive control applications.
+- moving horizon estimator with inequality state constraints, and equality constraints at 
+  zero on process noise (to reduce the problem size)