Merge pull request #71 from JuliaControl/doc_details

Doc: minor corrections and add preview cleanup workflow

Author: franckgaga

.github/workflows/DocCleanup.yml

@@ -0,0 +1,28 @@
+name: Doc Preview Cleanup
+
+on:
+  pull_request:
+    types: [closed]
+
+jobs:
+  doc-preview-cleanup:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout gh-pages branch
+        uses: actions/checkout@v2
+        with:
+          ref: gh-pages
+
+      - name: Delete preview and history
+        run: |
+            git config user.name "Documenter.jl"
+            git config user.email "documenter@juliadocs.github.io"
+            git rm -rf "previews/PR$PRNUM"
+            git commit -m "delete preview"
+            git branch gh-pages-new $(echo "delete history" | git commit-tree HEAD^{tree})
+        env:
+            PRNUM: ${{ github.event.number }}
+
+      - name: Push changes
+        run: |
+            git push --force origin gh-pages-new:gh-pages

docs/src/manual/nonlinmpc.md

@@ -66,8 +66,8 @@ model = setname!(NonLinModel(f, h, Ts, nu, nx, ny); u=vu, x=vx, y=vy)
 The output function ``\mathbf{h}`` converts the ``θ`` angle to degrees. Note that special
 characters like ``θ`` can be typed in the Julia REPL or VS Code by typing `\theta` and
 pressing the `<TAB>` key. The tuple `par` is constant here to improve the [performance](https://docs.julialang.org/en/v1/manual/performance-tips/#Avoid-untyped-global-variables).
-Note that a 4th order [`RungeKutta`](@ref) differential equation solver is used by default.
-It is good practice to first simulate `model` using [`sim!`](@ref) as a quick sanity check:
+A 4th order [`RungeKutta`](@ref) method solves the differential equations by default. It is
+good practice to first simulate `model` using [`sim!`](@ref) as a quick sanity check:
 
 ```@example 1
 using Plots
@@ -80,7 +80,9 @@ savefig("plot1_NonLinMPC.svg"); nothing # hide
 
 ![plot1_NonLinMPC](plot1_NonLinMPC.svg)
 
-The [`setname!`](@ref) function allows customizing the Y-axis labels.
+The [`setname!`](@ref) function allows customized Y-axis labels. The available plotting
+options are detailed in the documentation of the corresponding [`plot`](@ref ModelPredictiveControl.plot)
+method.
 
 ## Nonlinear Model Predictive Controller
 
@@ -146,6 +148,8 @@ savefig("plot4_NonLinMPC.svg"); nothing # hide
 
 ![plot4_NonLinMPC](plot4_NonLinMPC.svg)
 
+See [`sim!`](@ref) documentation for details on the possible simulation scenarios.
+
 ## Economic Model Predictive Controller
 
 Economic MPC can achieve the same objective but with lower economical costs. For this case

src/estimator/kalman.jl

@@ -451,10 +451,10 @@ is based on the process model :
 ```
 See [`SteadyKalmanFilter`](@ref) for details on ``\mathbf{v}(k), \mathbf{w}(k)`` noises and
 ``\mathbf{R̂}, \mathbf{Q̂}`` covariances. The functions ``\mathbf{f̂, ĥ}`` are `model` 
-state-space functions augmented with the stochastic model, which is specified by the numbers
-of integrator `nint_u` and `nint_ym` (see Extended Help). The ``\mathbf{ĥ^m}`` function 
-represents the measured outputs of ``\mathbf{ĥ}`` function (and unmeasured ones, for 
-``\mathbf{ĥ^u}``).
+state-space functions augmented with the stochastic model of the unmeasured disturbances,
+which is specified by the numbers of integrator `nint_u` and `nint_ym` (see Extended Help).
+The ``\mathbf{ĥ^m}`` function represents the measured outputs of ``\mathbf{ĥ}`` function
+(and unmeasured ones, for ``\mathbf{ĥ^u}``).
 
 # Arguments
 !!! info
@@ -483,9 +483,10 @@ UnscentedKalmanFilter estimator with a sample time Ts = 10.0 s, NonLinModel and:
 # Extended Help
 !!! details "Extended Help"
     The Extended Help of [`SteadyKalmanFilter`](@ref) details the augmentation with `nint_ym` 
-    and `nint_u` arguments. Note that the constructor does not validate the observability of
-    the resulting augmented [`NonLinModel`](@ref). In such cases, it is the user's 
-    responsibility to ensure that the augmented model is still observable.
+    and `nint_u` arguments. The default augmentation scheme is identical, that is `nint_u=0`
+    and `nint_ym` computed by [`default_nint`](@ref). Note that the constructor does not
+    validate the observability of the resulting augmented [`NonLinModel`](@ref). In such
+    cases, it is the user's responsibility to ensure that it is still observable.
 """
 function UnscentedKalmanFilter(
     model::SM;

src/plot_sim.jl

@@ -614,8 +614,6 @@ end
 Plot the simulation results of a [`PredictiveController`](@ref).
 
 # Arguments
-!!! info
-    Keyword arguments in *`italic`* are non-Unicode alternatives.
 
 - `res::SimResult{<:Real, <:PredictiveController}` : simulation results to plot
 - `plotry=true` : plot plant output setpoints ``\mathbf{r_y}`` if applicable