debug setconstraint! (thanks to unit tests!)

Author: franckgaga

src/predictive_control.jl

@@ -143,7 +143,7 @@ function setconstraint!(
         size(c_umin) == (nu,) || error("c_umin size must be $((nu,))")
         any(c_umin .< 0) && error("c_umin weights should be non-negative")
         c_Umin  = repeat(c_umin, Hc)
-        con.A_Umin[:, end] = +c_Umin
+        con.A_Umin[:, end] = -c_Umin
     end
     if !isnothing(c_umax)
         !isinf(C) || error("Slack variable Cwt must be finite to set softness parameters") 
@@ -157,14 +157,14 @@ function setconstraint!(
         size(c_Δumin) == (nu,) || error("c_Δumin size must be $((nu,))")
         any(c_Δumin .< 0) && error("c_Δumin weights should be non-negative")
         c_ΔUmin  = repeat(c_Δumin, Hc)
-        con.A_ΔUmin[1:end-1, end] = +c_ΔUmin
+        con.A_ΔŨmin[1:end-1, end] = -c_ΔUmin 
     end
     if !isnothing(c_Δumax)
         !isinf(C) || error("Slack variable Cwt must be finite to set softness parameters") 
         size(c_Δumax) == (nu,) || error("c_Δumax size must be $((nu,))")
         any(c_Δumax .< 0) && error("c_Δumax weights should be non-negative")
         c_ΔUmax  = repeat(c_Δumax, Hc)
-        con.A_ΔUmax[1:end-1, end] = -c_ΔUmax
+        con.A_ΔŨmax[1:end-1, end] = -c_ΔUmax
     end
     if !isnothing(c_ŷmin)
         !isinf(C) || error("Slack variable Cwt must be finite to set softness parameters") 

test/test_predictive_control.jl

@@ -46,11 +46,11 @@ setconstraint!(mpc, Δumin=[-5,-10], Δumax=[6,11])
 setconstraint!(mpc, ŷmin=[5,10],ŷmax=[55, 35])
 @test all((mpc.con.Ŷmin, mpc.con.Ŷmax) .≈ ([5,10], [55,35]))
 setconstraint!(mpc, c_umin=[0.1,0.2], c_umax=[0.3,0.4])
-@test all((mpc.con.c_Umin, mpc.con.c_Umax) .≈ ([0.1,0.2], [0.3,0.4]))
+@test all((-mpc.con.A_Umin[:, end], -mpc.con.A_Umax[:, end]) .≈ ([0.1,0.2], [0.3,0.4]))
 setconstraint!(mpc, c_Δumin=[0.05,0.15], c_Δumax=[0.25,0.35])
-@test all((mpc.con.c_ΔUmin, mpc.con.c_ΔUmax) .≈ ([0.05,0.15], [0.25,0.35]))
+@test all((-mpc.con.A_ΔŨmin[1:end-1, end], -mpc.con.A_ΔŨmax[1:end-1, end]) .≈ ([0.05,0.15], [0.25,0.35]))
 setconstraint!(mpc, c_ŷmin=[1.0,1.1], c_ŷmax=[1.2,1.3])
-@test all((mpc.con.c_Ŷmin, mpc.con.c_Ŷmax) .≈ ([1.0,1.1], [1.2,1.3]))
+@test all((-mpc.con.A_Ŷmin[:, end], -mpc.con.A_Ŷmax[:, end]) .≈ ([1.0,1.1], [1.2,1.3]))
 
 end