add constraints to help convergence

Author: ocots

docs/make.jl

@@ -8,7 +8,7 @@ cp("./docs/Project.toml", "./docs/src/assets/Project.toml", force = true)
 repo_url = "github.com/control-toolbox/Tutorials.jl"
 
 makedocs(;
-    draft = false,
+    draft = true,
     warnonly=[:cross_references, :autodocs_block],
     sitename="Tutorials",
     format=Documenter.HTML(;

docs/src/assets/Manifest.toml

@@ -90,9 +90,9 @@ version = "1.1.2"
 
 [[deps.ArrayInterface]]
 deps = ["Adapt", "LinearAlgebra"]
-git-tree-sha1 = "bebb10cd3f0796dd1429ba61e43990ba391186e9"
+git-tree-sha1 = "9606d7832795cbef89e06a550475be300364a8aa"
 uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9"
-version = "7.18.1"
+version = "7.19.0"
 
     [deps.ArrayInterface.extensions]
     ArrayInterfaceBandedMatricesExt = "BandedMatrices"
@@ -210,9 +210,9 @@ weakdeps = ["OrdinaryDiffEq"]
 
 [[deps.CTModels]]
 deps = ["CTBase", "DocStringExtensions", "Interpolations", "LinearAlgebra", "MLStyle", "MacroTools", "OrderedCollections", "Parameters", "PrettyTables", "RecipesBase"]
-git-tree-sha1 = "717ff07c390ce0b1546ed9f07c09b5b24097961d"
+git-tree-sha1 = "a67b17d64f5e58b78e360b17d712d62962cdd591"
 uuid = "34c4fa32-2049-4079-8329-de33c2a22e2d"
-version = "0.3.6"
+version = "0.3.8"
 
     [deps.CTModels.extensions]
     CTModelsJLD = "JLD2"
@@ -407,9 +407,9 @@ version = "1.9.1"
 
 [[deps.DiffEqBase]]
 deps = ["ArrayInterface", "ConcreteStructs", "DataStructures", "DocStringExtensions", "EnumX", "EnzymeCore", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "Parameters", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "TruncatedStacktraces"]
-git-tree-sha1 = "6a0f6f17adbeb77688220cfb3e665c8f6e2a60ea"
+git-tree-sha1 = "1bcd3a5c585c477e5d0595937ea7b5adcda6c621"
 uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
-version = "6.172.0"
+version = "6.174.0"
 
     [deps.DiffEqBase.extensions]
     DiffEqBaseCUDAExt = "CUDA"
@@ -457,9 +457,9 @@ version = "1.15.1"
 
 [[deps.DifferentiationInterface]]
 deps = ["ADTypes", "LinearAlgebra"]
-git-tree-sha1 = "aa87a743e3778d35a950b76fbd2ae64f810a2bb3"
+git-tree-sha1 = "c8d85ecfcbaef899308706bebdd8b00107f3fb43"
 uuid = "a0c0ee7d-e4b9-4e03-894e-1c5f64a51d63"
-version = "0.6.52"
+version = "0.6.54"
 
     [deps.DifferentiationInterface.extensions]
     DifferentiationInterfaceChainRulesCoreExt = "ChainRulesCore"
@@ -516,10 +516,10 @@ uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 version = "0.9.4"
 
 [[deps.Documenter]]
-deps = ["ANSIColoredPrinters", "AbstractTrees", "Base64", "CodecZlib", "Dates", "DocStringExtensions", "Downloads", "Git", "IOCapture", "InteractiveUtils", "JSON", "LibGit2", "Logging", "Markdown", "MarkdownAST", "Pkg", "PrecompileTools", "REPL", "RegistryInstances", "SHA", "TOML", "Test", "Unicode"]
-git-tree-sha1 = "b7af952d4701252dc45d3b0025693e9cb4dedcd8"
+deps = ["ANSIColoredPrinters", "AbstractTrees", "Base64", "CodecZlib", "Dates", "DocStringExtensions", "Downloads", "Git", "IOCapture", "InteractiveUtils", "JSON", "Logging", "Markdown", "MarkdownAST", "Pkg", "PrecompileTools", "REPL", "RegistryInstances", "SHA", "TOML", "Test", "Unicode"]
+git-tree-sha1 = "6c182d0bd94142d7cbc3ae8a1e74668f15d0dd65"
 uuid = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
-version = "1.10.2"
+version = "1.11.4"
 
 [[deps.Downloads]]
 deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"]
@@ -788,9 +788,9 @@ version = "1.0.2"
 
 [[deps.HSL]]
 deps = ["HSL_jll", "Libdl", "LinearAlgebra", "OpenBLAS32_jll", "Quadmath", "SparseArrays"]
-git-tree-sha1 = "1cfc6a0b38f432db210f6148ad945ce2d56d85fb"
+git-tree-sha1 = "4898d678a6f7549c41bd9f187233f979da18bc36"
 uuid = "34c5aeac-e683-54a6-a0e9-6e0fdc586c50"
-version = "0.5.0"
+version = "0.5.1"
 
 [[deps.HSL_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl"]
@@ -812,9 +812,9 @@ version = "8.5.0+0"
 
 [[deps.Hwloc_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
-git-tree-sha1 = "f93a9ce66cd89c9ba7a4695a47fd93b4c6bc59fa"
+git-tree-sha1 = "92f65c4d78ce8cdbb6b68daf88889950b0a99d11"
 uuid = "e33a78d0-f292-5ffc-b300-72abe9b543c8"
-version = "2.12.0+0"
+version = "2.12.1+0"
 
 [[deps.IOCapture]]
 deps = ["Logging", "Random"]
@@ -1117,9 +1117,9 @@ version = "2.10.0"
 
 [[deps.LinearSolve]]
 deps = ["ArrayInterface", "ChainRulesCore", "ConcreteStructs", "DocStringExtensions", "EnumX", "GPUArraysCore", "InteractiveUtils", "Krylov", "LazyArrays", "Libdl", "LinearAlgebra", "MKL_jll", "Markdown", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "Setfield", "StaticArraysCore", "UnPack"]
-git-tree-sha1 = "dd7a3f6e0cc5ded5d936692d7f9f7981243d75ef"
+git-tree-sha1 = "c2685cb9d01923f0e63155149c390504e72a8fcc"
 uuid = "7ed4a6bd-45f5-4d41-b270-4a48e9bafcae"
-version = "3.10.0"
+version = "3.14.0"
 
     [deps.LinearSolve.extensions]
     LinearSolveBandedMatricesExt = "BandedMatrices"
@@ -1304,9 +1304,9 @@ version = "0.2.4"
 
 [[deps.NLPModels]]
 deps = ["FastClosures", "LinearAlgebra", "LinearOperators", "Printf", "SparseArrays"]
-git-tree-sha1 = "808b4d1a5ee2a8cc089b285dd27284efb47b35c7"
+git-tree-sha1 = "ac58082a07f0bd559292e869770d462d7ad0a7e2"
 uuid = "a4795742-8479-5a88-8948-cc11e1c8c1a6"
-version = "0.21.4"
+version = "0.21.5"
 
 [[deps.NLPModelsIpopt]]
 deps = ["Ipopt", "NLPModels", "SolverCore"]
@@ -1364,9 +1364,9 @@ version = "4.8.0"
 
 [[deps.NonlinearSolveBase]]
 deps = ["ADTypes", "Adapt", "ArrayInterface", "CommonSolve", "Compat", "ConcreteStructs", "DifferentiationInterface", "EnzymeCore", "FastClosures", "LinearAlgebra", "Markdown", "MaybeInplace", "Preferences", "Printf", "RecursiveArrayTools", "SciMLBase", "SciMLJacobianOperators", "SciMLOperators", "StaticArraysCore", "SymbolicIndexingInterface", "TimerOutputs"]
-git-tree-sha1 = "edfa90b9b46fc841b6f03106d9e1a054816f4f1d"
+git-tree-sha1 = "df412bac2b517411eabb42c78ff234b01eb3e95b"
 uuid = "be0214bd-f91f-a760-ac4e-3421ce2b2da0"
-version = "1.6.0"
+version = "1.9.0"
 
     [deps.NonlinearSolveBase.extensions]
     NonlinearSolveBaseBandedMatricesExt = "BandedMatrices"
@@ -1394,9 +1394,9 @@ version = "1.5.0"
 
 [[deps.NonlinearSolveQuasiNewton]]
 deps = ["ArrayInterface", "CommonSolve", "ConcreteStructs", "DiffEqBase", "LinearAlgebra", "LinearSolve", "MaybeInplace", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase", "SciMLOperators", "StaticArraysCore"]
-git-tree-sha1 = "290d60e3e097eed44e0aba00643995a47284746b"
+git-tree-sha1 = "b69a68ef3a7bba7ab1d5ef6321ed6d9a613142b0"
 uuid = "9a2c21bd-3a47-402d-9113-8faf9a0ee114"
-version = "1.3.0"
+version = "1.5.0"
 weakdeps = ["ForwardDiff"]
 
     [deps.NonlinearSolveQuasiNewton.extensions]
@@ -1469,9 +1469,9 @@ version = "0.5.6+0"
 
 [[deps.OptimalControl]]
 deps = ["CTBase", "CTDirect", "CTFlows", "CTModels", "CTParser", "CommonSolve", "DocStringExtensions"]
-git-tree-sha1 = "c22d61cfbe3ecad8e4023f05ff8cf11ae4b04a59"
+git-tree-sha1 = "a174fae93643c078ea8e606f028e9016ff8b8c2c"
 uuid = "5f98b655-cc9a-415a-b60e-744165666948"
-version = "1.0.2"
+version = "1.0.3"
 
 [[deps.Opus_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
@@ -1486,9 +1486,9 @@ version = "1.8.0"
 
 [[deps.OrdinaryDiffEq]]
 deps = ["ADTypes", "Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "ExponentialUtilities", "FastBroadcast", "FastClosures", "FillArrays", "FiniteDiff", "ForwardDiff", "FunctionWrappersWrappers", "InteractiveUtils", "LineSearches", "LinearAlgebra", "LinearSolve", "Logging", "MacroTools", "MuladdMacro", "NonlinearSolve", "OrdinaryDiffEqAdamsBashforthMoulton", "OrdinaryDiffEqBDF", "OrdinaryDiffEqCore", "OrdinaryDiffEqDefault", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqExplicitRK", "OrdinaryDiffEqExponentialRK", "OrdinaryDiffEqExtrapolation", "OrdinaryDiffEqFIRK", "OrdinaryDiffEqFeagin", "OrdinaryDiffEqFunctionMap", "OrdinaryDiffEqHighOrderRK", "OrdinaryDiffEqIMEXMultistep", "OrdinaryDiffEqLinear", "OrdinaryDiffEqLowOrderRK", "OrdinaryDiffEqLowStorageRK", "OrdinaryDiffEqNonlinearSolve", "OrdinaryDiffEqNordsieck", "OrdinaryDiffEqPDIRK", "OrdinaryDiffEqPRK", "OrdinaryDiffEqQPRK", "OrdinaryDiffEqRKN", "OrdinaryDiffEqRosenbrock", "OrdinaryDiffEqSDIRK", "OrdinaryDiffEqSSPRK", "OrdinaryDiffEqStabilizedIRK", "OrdinaryDiffEqStabilizedRK", "OrdinaryDiffEqSymplecticRK", "OrdinaryDiffEqTsit5", "OrdinaryDiffEqVerner", "Polyester", "PreallocationTools", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "SimpleNonlinearSolve", "SimpleUnPack", "SparseArrays", "Static", "StaticArrayInterface", "StaticArrays", "TruncatedStacktraces"]
-git-tree-sha1 = "2d7026dd8e4c7b3e7f47eef9c13c60ae55fe4912"
+git-tree-sha1 = "56d5500e9970f0112a4e1ab6474d6fedde61ef64"
 uuid = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
-version = "6.95.1"
+version = "6.97.0"
 
 [[deps.OrdinaryDiffEqAdamsBashforthMoulton]]
 deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqLowOrderRK", "Polyester", "RecursiveArrayTools", "Reexport", "Static"]
@@ -1504,25 +1504,25 @@ version = "1.5.0"
 
 [[deps.OrdinaryDiffEqCore]]
 deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "FastBroadcast", "FastClosures", "FastPower", "FillArrays", "FunctionWrappersWrappers", "InteractiveUtils", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "SimpleUnPack", "Static", "StaticArrayInterface", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
-git-tree-sha1 = "af7374f4af1b9a67ce29524e7fd328fa3da33189"
+git-tree-sha1 = "d29adfeb720dd7c251b216d91c4bd4fe67c087df"
 uuid = "bbf590c4-e513-4bbe-9b18-05decba2e5d8"
-version = "1.23.0"
+version = "1.26.0"
 weakdeps = ["EnzymeCore"]
 
     [deps.OrdinaryDiffEqCore.extensions]
     OrdinaryDiffEqCoreEnzymeCoreExt = "EnzymeCore"
 
 [[deps.OrdinaryDiffEqDefault]]
 deps = ["ADTypes", "DiffEqBase", "EnumX", "LinearAlgebra", "LinearSolve", "OrdinaryDiffEqBDF", "OrdinaryDiffEqCore", "OrdinaryDiffEqRosenbrock", "OrdinaryDiffEqTsit5", "OrdinaryDiffEqVerner", "PrecompileTools", "Preferences", "Reexport"]
-git-tree-sha1 = "835c06684b6ff1b8904ceae4d18cc8fe45b9a7cc"
+git-tree-sha1 = "8eeed32442874d1bdcc2192a874a73f1a9a07e31"
 uuid = "50262376-6c5a-4cf5-baba-aaf4f84d72d7"
-version = "1.3.0"
+version = "1.4.0"
 
 [[deps.OrdinaryDiffEqDifferentiation]]
 deps = ["ADTypes", "ArrayInterface", "ConcreteStructs", "ConstructionBase", "DiffEqBase", "DifferentiationInterface", "FastBroadcast", "FiniteDiff", "ForwardDiff", "FunctionWrappersWrappers", "LinearAlgebra", "LinearSolve", "OrdinaryDiffEqCore", "SciMLBase", "SciMLOperators", "SparseArrays", "SparseMatrixColorings", "StaticArrayInterface", "StaticArrays"]
-git-tree-sha1 = "6595287379a518d7eb8f02edc49a96a02396e887"
+git-tree-sha1 = "315d25dd06614e199973cc13d22e533073bd7458"
 uuid = "4302a76b-040a-498a-8c04-15b101fed76b"
-version = "1.7.0"
+version = "1.9.0"
 
 [[deps.OrdinaryDiffEqExplicitRK]]
 deps = ["DiffEqBase", "FastBroadcast", "LinearAlgebra", "MuladdMacro", "OrdinaryDiffEqCore", "RecursiveArrayTools", "Reexport", "TruncatedStacktraces"]
@@ -1544,9 +1544,9 @@ version = "1.5.0"
 
 [[deps.OrdinaryDiffEqFIRK]]
 deps = ["ADTypes", "DiffEqBase", "FastBroadcast", "FastGaussQuadrature", "FastPower", "LinearAlgebra", "LinearSolve", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqNonlinearSolve", "Polyester", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators"]
-git-tree-sha1 = "7d2c82c13a634f7400a3f398d33f1354ab38a090"
+git-tree-sha1 = "0da8ec3491821262a3d2828e6370e76b51a770a3"
 uuid = "5960d6e9-dd7a-4743-88e7-cf307b64f125"
-version = "1.10.0"
+version = "1.12.0"
 
 [[deps.OrdinaryDiffEqFeagin]]
 deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "RecursiveArrayTools", "Reexport", "Static"]
@@ -1573,10 +1573,10 @@ uuid = "9f002381-b378-40b7-97a6-27a27c83f129"
 version = "1.3.0"
 
 [[deps.OrdinaryDiffEqLinear]]
-deps = ["DiffEqBase", "ExponentialUtilities", "LinearAlgebra", "OrdinaryDiffEqCore", "OrdinaryDiffEqTsit5", "OrdinaryDiffEqVerner", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators"]
-git-tree-sha1 = "0f81a77ede3da0dc714ea61e81c76b25db4ab87a"
+deps = ["DiffEqBase", "ExponentialUtilities", "LinearAlgebra", "OrdinaryDiffEqCore", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators"]
+git-tree-sha1 = "940cef72ec8799d869ff1ba3dcf47cf7758e51cf"
 uuid = "521117fe-8c41-49f8-b3b6-30780b3f0fb5"
-version = "1.1.0"
+version = "1.3.0"
 
 [[deps.OrdinaryDiffEqLowOrderRK]]
 deps = ["DiffEqBase", "FastBroadcast", "LinearAlgebra", "MuladdMacro", "OrdinaryDiffEqCore", "RecursiveArrayTools", "Reexport", "SciMLBase", "Static"]
@@ -1592,9 +1592,9 @@ version = "1.3.0"
 
 [[deps.OrdinaryDiffEqNonlinearSolve]]
 deps = ["ADTypes", "ArrayInterface", "DiffEqBase", "FastBroadcast", "FastClosures", "ForwardDiff", "LinearAlgebra", "LinearSolve", "MuladdMacro", "NonlinearSolve", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "PreallocationTools", "RecursiveArrayTools", "SciMLBase", "SciMLOperators", "SciMLStructures", "SimpleNonlinearSolve", "StaticArrays"]
-git-tree-sha1 = "d75cf29dea3a72bac7a5b21523ac969b71f43e96"
+git-tree-sha1 = "2f956f14c97ff507e855703ac760d513f7c3e372"
 uuid = "127b3ac7-2247-4354-8eb6-78cf4e7c58e8"
-version = "1.6.1"
+version = "1.9.0"
 
 [[deps.OrdinaryDiffEqNordsieck]]
 deps = ["DiffEqBase", "FastBroadcast", "LinearAlgebra", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqTsit5", "Polyester", "RecursiveArrayTools", "Reexport", "Static"]
@@ -1628,9 +1628,9 @@ version = "1.1.0"
 
 [[deps.OrdinaryDiffEqRosenbrock]]
 deps = ["ADTypes", "DiffEqBase", "DifferentiationInterface", "FastBroadcast", "FiniteDiff", "ForwardDiff", "LinearAlgebra", "LinearSolve", "MacroTools", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "Static"]
-git-tree-sha1 = "baa4a9b4380b2fb65f1e2b4ec01d3bd019a6dcea"
+git-tree-sha1 = "a9b9aff8e740bfc09a2ea669f7fc02e867f95ab7"
 uuid = "43230ef6-c299-4910-a778-202eb28ce4ce"
-version = "1.9.0"
+version = "1.10.0"
 
 [[deps.OrdinaryDiffEqSDIRK]]
 deps = ["ADTypes", "DiffEqBase", "FastBroadcast", "LinearAlgebra", "MacroTools", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqNonlinearSolve", "RecursiveArrayTools", "Reexport", "SciMLBase", "TruncatedStacktraces"]
@@ -1746,9 +1746,9 @@ version = "1.40.13"
 
 [[deps.Polyester]]
 deps = ["ArrayInterface", "BitTwiddlingConvenienceFunctions", "CPUSummary", "IfElse", "ManualMemory", "PolyesterWeave", "Static", "StaticArrayInterface", "StrideArraysCore", "ThreadingUtilities"]
-git-tree-sha1 = "6d38fea02d983051776a856b7df75b30cf9a3c1f"
+git-tree-sha1 = "2082cc4be5e765bd982ed04ea06c068f4f702410"
 uuid = "f517fe37-dbe3-4b94-8317-1923a5111588"
-version = "0.7.16"
+version = "0.7.17"
 
 [[deps.PolyesterWeave]]
 deps = ["BitTwiddlingConvenienceFunctions", "CPUSummary", "IfElse", "Static", "ThreadingUtilities"]
@@ -1937,9 +1937,9 @@ version = "2024.5.8+0"
 
 [[deps.SciMLBase]]
 deps = ["ADTypes", "Accessors", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "Moshi", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "SciMLStructures", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface"]
-git-tree-sha1 = "2fd047893cb0089b180fcbb7e8434ba15dcc2841"
+git-tree-sha1 = "44397dee277159f224492bcf99c442d2a907c6f5"
 uuid = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
-version = "2.87.0"
+version = "2.91.0"
 
     [deps.SciMLBase.extensions]
     SciMLBaseChainRulesCoreExt = "ChainRulesCore"
@@ -1964,15 +1964,15 @@ version = "2.87.0"
 
 [[deps.SciMLJacobianOperators]]
 deps = ["ADTypes", "ArrayInterface", "ConcreteStructs", "ConstructionBase", "DifferentiationInterface", "FastClosures", "LinearAlgebra", "SciMLBase", "SciMLOperators"]
-git-tree-sha1 = "6e9d280334839fe405fdab2a1268f2969c9d3eeb"
+git-tree-sha1 = "d563758f3ce5153810adebc534d88e24d34eeb95"
 uuid = "19f34311-ddf3-4b8b-af20-060888a46c0e"
-version = "0.1.3"
+version = "0.1.5"
 
 [[deps.SciMLOperators]]
 deps = ["Accessors", "ArrayInterface", "DocStringExtensions", "LinearAlgebra", "MacroTools"]
-git-tree-sha1 = "1c4b7f6c3e14e6de0af66e66b86d525cae10ecb4"
+git-tree-sha1 = "d82853c515a8d9d42c1ab493a2687a37f1e26c91"
 uuid = "c0aeaf25-5076-4817-a8d5-81caf7dfa961"
-version = "0.3.13"
+version = "0.4.0"
 weakdeps = ["SparseArrays", "StaticArraysCore"]
 
     [deps.SciMLOperators.extensions]
@@ -2019,9 +2019,9 @@ version = "1.2.0"
 
 [[deps.SimpleNonlinearSolve]]
 deps = ["ADTypes", "ArrayInterface", "BracketingNonlinearSolve", "CommonSolve", "ConcreteStructs", "DifferentiationInterface", "FastClosures", "FiniteDiff", "ForwardDiff", "LineSearch", "LinearAlgebra", "MaybeInplace", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase", "Setfield", "StaticArraysCore"]
-git-tree-sha1 = "068c16a16834c1483c299b0e27e901599439570d"
+git-tree-sha1 = "7aaa5fe4617271b64fce0466d187f2a72edbd81a"
 uuid = "727e6d20-b764-4bd8-a329-72de5adea6c7"
-version = "2.4.0"
+version = "2.5.0"
 
     [deps.SimpleNonlinearSolve.extensions]
     SimpleNonlinearSolveChainRulesCoreExt = "ChainRulesCore"
@@ -2297,9 +2297,9 @@ version = "0.4.1"
 
 [[deps.Unitful]]
 deps = ["Dates", "LinearAlgebra", "Random"]
-git-tree-sha1 = "c0667a8e676c53d390a09dc6870b3d8d6650e2bf"
+git-tree-sha1 = "d62610ec45e4efeabf7032d67de2ffdea8344bed"
 uuid = "1986cc42-f94f-5a68-af5c-568840ba703d"
-version = "1.22.0"
+version = "1.22.1"
 weakdeps = ["ConstructionBase", "InverseFunctions"]
 
     [deps.Unitful.extensions]
@@ -2521,10 +2521,10 @@ uuid = "214eeab7-80f7-51ab-84ad-2988db7cef09"
 version = "0.61.1+0"
 
 [[deps.gperf_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "0ba42241cb6809f1a278d0bcb976e0483c3f1f2d"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "3cad2cf2c8d80f1d17320652b3ea7778b30f473f"
 uuid = "1a1c6b14-54f6-533d-8383-74cd7377aa70"
-version = "3.1.1+1"
+version = "3.3.0+0"
 
 [[deps.libaom_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
@@ -2569,9 +2569,9 @@ version = "1.18.0+0"
 
 [[deps.libpng_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Zlib_jll"]
-git-tree-sha1 = "068dfe202b0a05b8332f1e8e6b4080684b9c7700"
+git-tree-sha1 = "002748401f7b520273e2b506f61cab95d4701ccf"
 uuid = "b53b4c65-9356-5827-b1ea-8c7a1a84506f"
-version = "1.6.47+0"
+version = "1.6.48+0"
 
 [[deps.libvorbis_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Ogg_jll", "Pkg"]

docs/src/tutorial-mpc.md

@@ -1,5 +1,9 @@
 # Navigation problem, MPC approach
 
+```@meta
+Draft = false
+```
+
 We consider a ship in a constant current $w=(w_x,w_y)$, where $\|w\|<1$. 
 The [heading angle](https://en.wikipedia.org/wiki/Heading) is controlled, leading to the following differential equations:
 
@@ -137,6 +141,10 @@ function solve(t0, x0, y0, θ0, xf, yf, θf, w;
 
         -1 ≤ u(t) ≤ 1
 
+        -2 ≤ x(t) ≤ 6
+        -2 ≤ y(t) ≤ 8
+        -2π ≤ x(t) ≤ 2π
+
         q(t0) == [ x0, y0, θ0 ]
         q(tf) == [ xf, yf, θf ]