debug : input setpoints ru now works

added : unit test for input setpoint weight Lwt

Author: franckgaga

docs/make.jl

@@ -22,8 +22,8 @@ makedocs(
     pages = [
         "Home" => "index.md",
         "Manual" => [
+            "Installation" => "manual/installation.md",
             "Examples" => [
-                "Installation" => "manual/installation.md",
                 "Linear Design" => "manual/linmpc.md",
                 "Nonlinear Design" => "manual/nonlinmpc.md",
             ],

src/plot_sim.jl

@@ -221,7 +221,7 @@ sim_getu!(::StateEstimator, u, _ , _ ) = u
 sim_getu!(mpc::PredictiveController, ry, d, ym) = moveinput!(mpc, ry, d; ym)
 
 "Plots.jl recipe for `SimResult` objects constructed with `SimModel` objects."
-@recipe function simresultplot(
+@recipe function plot(
     res::SimResult{<:SimModel};
     plotu  = true,
     plotd  = true,
@@ -297,7 +297,7 @@ sim_getu!(mpc::PredictiveController, ry, d, ym) = moveinput!(mpc, ry, d; ym)
 end
 
 "Plots.jl recipe for `SimResult` objects constructed with `StateEstimator` objects."
-@recipe function simresultplot(
+@recipe function plot(
     res::SimResult{<:StateEstimator};
     plotŷ           = true,
     plotu           = true,
@@ -407,7 +407,7 @@ end
 end
 
 "Plots.jl recipe for `SimResult` objects constructed with `PredictiveController` objects."
-@recipe function simresultplot(
+@recipe function plot(
     res::SimResult{<:PredictiveController}; 
     plotry      = true,
     plotŷmin    = true,

src/predictive_control.jl

@@ -422,7 +422,7 @@ function initpred!(mpc::PredictiveController, model::LinModel, d, D̂, R̂y)
     if ~isempty(mpc.R̂u)
         lastu = mpc.estim.lastu0 + model.uop
         V̂ = mpc.T_Hp*lastu - mpc.R̂u
-        mpc.q̃[:] += 2(mpc.L_Hp*mpc.T_Hp)'*V̂
+        mpc.q̃[:] += 2(mpc.L_Hp*mpc.S̃_Hp)'*V̂
         mpc.p[:] += [V̂'*mpc.L_Hp*V̂]
     end
     return nothing

test/test_predictive_control.jl

@@ -57,15 +57,21 @@ end
 end
 
 @testset "LinMPC moves and getinfo" begin
-    mpc = LinMPC(LinModel(tf(5, [2, 1]), 3), Nwt=[0], Hp=1000, Hc=1)
+    mpc1 = LinMPC(LinModel(tf(5, [2, 1]), 3), Nwt=[0], Hp=1000, Hc=1)
     r = [5]
-    u = moveinput!(mpc, r)
+    u = moveinput!(mpc1, r)
     @test u ≈ [1] atol=1e-2
-    u = mpc(r)
+    u = mpc1(r)
     @test u ≈ [1] atol=1e-2
-    info, _ = getinfo(mpc)
+    info, _ = getinfo(mpc1)
     @test info[:u] ≈ u
     @test info[:Ŷ][end] ≈ 5 atol=1e-2
+    mpc2 = LinMPC(LinModel(tf(5, [2, 1]), 3), Nwt=[0], Cwt=Inf, Hp=1000, Hc=1)
+    u = moveinput!(mpc2, [5])
+    @test u ≈ [1] atol=1e-2
+    mpc3 = LinMPC(LinModel(tf(5, [2, 1]), 3), Mwt=[0], Nwt=[0], Lwt=[1], ru=[12])
+    u = moveinput!(mpc3, [0])
+    @test u ≈ [12] atol=1e-2
 end
 
 @testset "LinMPC other methods" begin