minor doc correction

Author: franckgaga

src/controller/explicitmpc.jl

@@ -82,8 +82,10 @@ The controller minimizes the following objective function at each discrete time
                        + \mathbf{(R̂_u - U)}' \mathbf{L}_{H_p} \mathbf{(R̂_u - U)} 
 ```
 
-This method uses the default state estimator, a [`SteadyKalmanFilter`](@ref) with default
-arguments.
+See [`LinMPC`](@ref) for the variable definitions. This controller does not support
+constraints but the computational costs are extremely low (array division), therefore 
+suitable for applications that require small sample times. This method uses the default
+state estimator, a [`SteadyKalmanFilter`](@ref) with default arguments.
 
 # Arguments
 - `model::LinModel` : model used for controller predictions and state estimations.

test/test_predictive_control.jl

@@ -86,19 +86,6 @@ end
     @test_throws ArgumentError updatestate!(mpc1, [0,0])
 end
 
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 @testset "ExplicitMPC construction" begin
     model = LinModel(sys, Ts, i_d=[3])
     mpc1 = ExplicitMPC(model, Hp=15)
@@ -163,32 +150,6 @@ end
     @test_throws ArgumentError updatestate!(mpc1, [0,0])
 end
 
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 @testset "NonLinMPC construction" begin
     linmodel1 = LinModel(sys,Ts,i_d=[3])
     nmpc0 = NonLinMPC(linmodel1, Hp=15)