An open source model predictive control package for Julia.
sim!
and plot
functionsplot
keyword argumentsMerged pull requests:
sim!
% progress and ETA in VS Code status barx̂min
/x̂max
for MHERungeKutta
diff cache chuck size nx+2
plot
recipe documentation (for keyword arguments)Merged pull requests:
RungeKutta
diff cache chuck size nx+2
(#67) (@franckgaga)setname!
Ru
instead of Ry
for u
setpoint (recipe)updatestate!
Merged pull requests:
update_estimate!
and imc block diagram (#58) (@franckgaga)updatestate!
(#60) (@franckgaga)setname!
function for variable names in plot labels (#63) (@franckgaga)Closed issues:
BREAKING CHANGE
All the keyword arguments related to initial values e.g. σP0
, x0
and x̂0
now require an underscore e.g. σP_0
, x_0
, x̂_0
(to differentiate from operating point deviation vectors)
setmodel!
for runtime model adaptation of controller/estimator based on LinModel
linearize
and setop!
now support non-equilibrium pointssetmodel!
and linearize
functionssetmodel!
and linearize
functionslinearize!
method for in-place model linearization (to reduce allocations)LinModel
constructor now support scalars (similarly to ss
function)ExtendedKalmanFilter
now compute the Jacobians in-place (to reduce allocations)struct
state data x
and state estimate x̂
renamed to x0
and x̂0
ExplicitMPC
with non-Float64
now workslinearize
argumentsempty!
on JuMP.Model
to support re-construction of MPC instancessetmodel!
, setop!
and linearize
function documentationMerged pull requests:
LinMPC
model through setmodel!
(#52) (@franckgaga)LinModel
(#54) (@franckgaga)setmodel!
for MovingHorizonEstimator
(#55) (@franckgaga)ϵ
)LinMPC
, NonLinMPC
, MovingHorizonEstimator
import
s instead of using
sMerged pull requests:
collect
in NonLinMPC
and MovingHorizonEstimator
objective and constraints (#46) (@franckgaga)import
s instead of using
s (#50) (@franckgaga)NonLinMPC
and MovingHorizonEsitimator
cleanup (#51) (@franckgaga)NonLinModel
LinMPC
and KalmanFilter
LinMPC
and MovingHorizonEstimator
with new JuMP
batch update methodsMerged pull requests:
NonLinModel
(#44) (@franckgaga)LinMPC
and KalmanFilter
(#45) (@franckgaga)NonLinModel
now defaults to UnscentedKalmanFilter
for arrival covariance estimationMerged pull requests:
BREAKING CHANGE
NonLinModel
constructor now supposes continuous dynamics by default. Use solver=nothing
for discrete-time models.
changelog:
NonLinModel
with continuous dynamicsNonLinModel
Merged pull requests:
NonLinModel
(RK4 only for now) (#38) (@baggepinnen)