added tests for sim! function

Author: franckgaga

test/runtests.jl

@@ -5,13 +5,15 @@ using ControlSystemsBase
 using Documenter
 using LinearAlgebra
 using JuMP, OSQP, Ipopt
+using RecipesBase
 using Test
 
 
 @testset "ModelPredictiveControl.jl" begin
 include("test_sim_model.jl")
 include("test_state_estim.jl")
 include("test_predictive_control.jl")
+include("test_plot_sim.jl")
 
 DocMeta.setdocmeta!(
     ModelPredictiveControl, 

test/test_plot_sim.jl

@@ -0,0 +1,37 @@
+Ts = 4.0
+sys = [ tf(1.90,[18.0,1])   tf(1.90,[18.0,1])   tf(1.90,[18.0,1]);
+        tf(-0.74,[8.0,1])   tf(0.74,[8.0,1])    tf(-0.74,[8.0,1])   ]
+
+@testset "SimModel quick simulation" begin
+    model = LinModel(sys, Ts, i_d=[3])
+    res = sim!(model, 15)
+    @test isa(res.obj, LinModel)
+    @test length(res.T_data) == 15
+    @test res.U_data[:, 1] ≈ model.uop .+ 1
+    @test res.D_data[:, 1] ≈ model.dop
+    @test res.X_data[:, 1] ≈ zeros(model.nx)
+end
+
+@testset "StateEstimator quick simulation" begin
+    estim = SteadyKalmanFilter(LinModel(sys, Ts, i_d=[3]))
+    res = sim!(estim, 15)
+    @test isa(res.obj, SteadyKalmanFilter)
+    @test length(res.T_data) == 15
+    @test res.U_data[:, 1]  ≈ estim.model.uop .+ 1
+    @test res.Ud_data[:, 1] ≈ estim.model.uop .+ 1
+    @test res.D_data[:, 1]  ≈ estim.model.dop
+    @test res.X_data[:, 1]  ≈ zeros(estim.model.nx)
+    @test res.X̂_data[:, 1]  ≈ zeros(estim.nx̂)
+end
+
+@testset "PredictiveController quick simulation" begin
+    mpc = LinMPC(LinModel(sys, Ts, i_d=[3]))
+    res = sim!(mpc, 15)
+    @test isa(res.obj, LinMPC)
+    @test length(res.T_data) == 15
+    @test res.Ry_data[:, 1] ≈ mpc.estim.model.yop .+ 1
+    @test res.Ud_data ≈ res.U_data
+    @test res.D_data[:, 1]  ≈ mpc.estim.model.dop
+    @test res.X_data[:, 1]  ≈ zeros(mpc.estim.model.nx)
+    @test res.X̂_data[:, 1]  ≈ zeros(mpc.estim.nx̂)
+end