v0.23.0

ModelPredictiveControl v0.23.0

Diff since v0.22.1

BREAKING CHANGES

• preparestate! should be called before solving the MPC optimization with moveinput!
• current form by default for all StateEstimator
• ym keyword argument of moveinput! removed (was only for InternalModel, I now use the new preparestate! method)
• MovingHorizonEstimator advanced constructor (with complete covariance matrices): covestim and optim are now keyword arguments instead of positional arguments.

Changelog

• added: current form for all StateEstimator except MovingHorizonEstimator, to improve accuracy and closed-loop robustness
• reduce allocation for SimModeland StateEstimator instances by using internal buffers
• multiple doc correction

Merged pull requests:

• minor doc correction (#87) (@franckgaga)
• minor doc additions (#88) (@franckgaga)
• added: support for the current form for all the state estimators (#90) (@franckgaga)
• Reduce allocations by avoiding empty for default d argument (#91) (@franckgaga)
• added: SimModelBuffer and StateEsimatorBuffer objects to reduce the allocations (#92) (@franckgaga)