added: drastically improve LinMPC performance with new JuMP batch update methods

Author: franckgaga

Project.toml

@@ -19,7 +19,7 @@ RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 ControlSystemsBase = "1.9"
 ForwardDiff = "0.10"
 Ipopt = "1"
-JuMP = "1"
+JuMP = "1.21"
 LinearAlgebra = "1.6"
 OSQP = "0.8"
 PreallocationTools = "0.4"

src/controller/execute.jl

@@ -279,7 +279,7 @@ function linconstraint!(mpc::PredictiveController, model::LinModel)
     n += nx̂
     mpc.con.b[(n+1):(n+nx̂)]  .= @. +mpc.con.x̂max - fx̂
     lincon = mpc.optim[:linconstraint]
-    set_normalized_rhs.(lincon, mpc.con.b[mpc.con.i_b])
+    set_normalized_rhs(lincon, mpc.con.b[mpc.con.i_b])
 end
 
 "Set `b` excluding predicted output constraints when `model` is not a [`LinModel`](@ref)."

src/controller/linmpc.jl

@@ -254,6 +254,6 @@ end
 
 "For [`LinMPC`](@ref), set the QP linear coefficient `q̃` just before optimization."
 function set_objective_linear_coef!(mpc::LinMPC, ΔŨvar)
-    set_objective_coefficient.(mpc.optim, ΔŨvar, mpc.q̃)
+    set_objective_coefficient(mpc.optim, ΔŨvar, mpc.q̃)
     return nothing
 end