ControllerConstraint struct to handle both LinMPC and NonLinMPC constraints

Author: franckgaga

.vscode/settings.json

@@ -34,6 +34,8 @@
         "Kalman",
         "kron",
         "kwargs",
+        "lastu",
+        "linconstraint",
         "Luenberger",
         "mathrm",
         "moveinput",
@@ -56,6 +58,7 @@
         "umax",
         "Ũmax",
         "umin",
+        "Ũmin",
         "ŷmax",
         "ŷmin",
         "Δumax",

docs/src/index.md

@@ -1,7 +1,7 @@
 # ModelPredictiveControl.jl
 
 A [model predictive control](https://en.wikipedia.org/wiki/Model_predictive_control) package
-for Julia. package for Julia.
+for Julia.
 
 The package depends on [`ControlSystemsBase.jl`](https://github.com/JuliaControl/ControlSystems.jl)
 for the linear systems and [`JuMP.jl`](https://github.com/jump-dev/JuMP.jl) for the solvers.

docs/src/internals/predictive_control.md

@@ -15,5 +15,6 @@ ModelPredictiveControl.init_quadprog
 ModelPredictiveControl.init_stochpred
 ModelPredictiveControl.split_state
 ModelPredictiveControl.init_prediction
-ModelPredictiveControl.init_constraint
+ModelPredictiveControl.init_linconstraint
+ModelPredictiveControl.linconstraint
 ```