minor doc correction

Author: franckgaga

src/controller/explicitmpc.jl

@@ -93,8 +93,8 @@ state estimator, a [`SteadyKalmanFilter`](@ref) with default arguments.
 - `Mwt=fill(1.0,model.ny)` : main diagonal of ``\mathbf{M}`` weight matrix (vector).
 - `Nwt=fill(0.1,model.nu)` : main diagonal of ``\mathbf{N}`` weight matrix (vector).
 - `Lwt=fill(0.0,model.nu)` : main diagonal of ``\mathbf{L}`` weight matrix (vector).
-- `M_Hp` / `N_Hc` / `L_Hp` : diagonal matrices ``\mathbf{M}_{H_p}, \mathbf{N}_{H_c}, 
-  \mathbf{L}_{H_p}``, for time-varying weights (generated by `Mwt`, `Nwt`, `Lwt` if omitted).
+- `M_Hp` / `N_Hc` / `L_Hp` : diagonal matrices ``\mathbf{M}_{H_p}, \mathbf{N}_{H_c},
+  \mathbf{L}_{H_p}``, for time-varying weights (generated from `Mwt/Nwt/Lwt` args if omitted).
 - additionnal keyword arguments are passed to [`SteadyKalmanFilter`](@ref) constructor.
 
 # Examples

src/controller/linmpc.jl

@@ -111,8 +111,8 @@ arguments.
 - `optim=JuMP.Model(OSQP.MathOptInterfaceOSQP.Optimizer)` : quadratic optimizer used in
   the predictive controller, provided as a [`JuMP.Model`](https://jump.dev/JuMP.jl/stable/api/JuMP/#JuMP.Model)
   (default to [`OSQP.jl`](https://osqp.org/docs/parsers/jump.html) optimizer).
-- `M_Hp` / `N_Hc` / `L_Hp` : diagonal matrices ``\mathbf{M}_{H_p}, \mathbf{N}_{H_c}, 
-  \mathbf{L}_{H_p}``, for time-varying weights (generated by `Mwt`, `Nwt`, `Lwt` if omitted).
+- `M_Hp` / `N_Hc` / `L_Hp` : diagonal matrices ``\mathbf{M}_{H_p}, \mathbf{N}_{H_c},
+  \mathbf{L}_{H_p}``, for time-varying weights (generated from `Mwt/Nwt/Lwt` args if omitted).
 - additional keyword arguments are passed to [`SteadyKalmanFilter`](@ref) constructor.
 
 # Examples

src/controller/nonlinmpc.jl

@@ -123,8 +123,8 @@ This method uses the default state estimator :
 - `Cwt=1e5` : slack variable weight ``C`` (scalar), use `Cwt=Inf` for hard constraints only.
 - `Ewt=0.0` : economic costs weight ``E`` (scalar). 
 - `JE=(_,_,_)->0.0` : economic function ``J_E(\mathbf{U}_E, \mathbf{Ŷ}_E, \mathbf{D̂}_E)``.
-- `M_Hp` / `N_Hc` / `L_Hp` : diagonal matrices ``\mathbf{M}_{H_p}, \mathbf{N}_{H_c}, 
-  \mathbf{L}_{H_p}``, for time-varying weights (generated by `Mwt`, `Nwt`, `Lwt` if omitted).
+- `M_Hp` / `N_Hc` / `L_Hp` : diagonal matrices ``\mathbf{M}_{H_p}, \mathbf{N}_{H_c},
+  \mathbf{L}_{H_p}``, for time-varying weights (generated from `Mwt/Nwt/Lwt` args if omitted).
 - `optim=JuMP.Model(Ipopt.Optimizer)` : nonlinear optimizer used in the predictive
    controller, provided as a [`JuMP.Model`](https://jump.dev/JuMP.jl/stable/api/JuMP/#JuMP.Model)
    (default to [`Ipopt.jl`](https://github.com/jump-dev/Ipopt.jl) optimizer).