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Merged
franckgaga merged 2 commits into from
Jun 24, 2026
Merged

doc: update jldoctests #392

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1a4fcfe
doc: update `jldoctest`s
franckgaga Jun 24, 2026
ceda050
doc: idem
franckgaga Jun 24, 2026
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2 changes: 1 addition & 1 deletion src/controller/construct.jl
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Expand Up @@ -262,7 +262,7 @@ LinMPC controller with a sample time Ts = 4.0 s:
│ ├ 0 unmeasured outputs yu
│ └ 0 measured disturbances d
└ optimization:
├ 3 decision variables Z̃ (1 slack variable)
├ 3 decision variables Z̃ (1 slack variable, 5 bounds)
├ 20 linear inequality constraints A (0 custom)
└ 0 linear equality constraints Aeq
```
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4 changes: 2 additions & 2 deletions src/controller/linmpc.jl
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Expand Up @@ -191,7 +191,7 @@ LinMPC controller with a sample time Ts = 4.0 s:
│ ├ 0 unmeasured outputs yu
│ └ 0 measured disturbances d
└ optimization:
├ 2 decision variables Z̃ (1 slack variable)
├ 2 decision variables Z̃ (1 slack variable, 1 bounds)
├ 0 linear inequality constraints A (0 custom)
└ 0 linear equality constraints Aeq
```
Expand Down Expand Up @@ -281,7 +281,7 @@ LinMPC controller with a sample time Ts = 4.0 s:
│ ├ 1 unmeasured outputs yu
│ └ 0 measured disturbances d
└ optimization:
├ 2 decision variables Z̃ (1 slack variable)
├ 2 decision variables Z̃ (1 slack variable, 1 bounds)
├ 0 linear inequality constraints A (0 custom)
└ 0 linear equality constraints Aeq
```
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6 changes: 3 additions & 3 deletions src/controller/nonlinmpc.jl
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Expand Up @@ -261,7 +261,7 @@ NonLinMPC controller with a sample time Ts = 10.0 s:
│ ├ 0 unmeasured outputs yu
│ └ 0 measured disturbances d
└ optimization:
├ 51 decision variables Z̃ (1 slack variable)
├ 51 decision variables Z̃ (1 slack variable, 1 bounds)
├ 0 linear inequality constraints A (0 custom)
├ 20 linear equality constraints Aeq
├ 0 nonlinear inequality constraints g (0 custom)
Expand Down Expand Up @@ -391,7 +391,7 @@ julia> model = NonLinModel((x,u,_,_)->0.5x+u, (x,_,_)->2x, 10.0, 1, 1, 1, solver

julia> estim = UnscentedKalmanFilter(model, σQint_ym=[0.05]);

julia> mpc = NonLinMPC(estim, Hp=20, Cwt=1e6)
julia> mpc = NonLinMPC(estim, Hp=20, Cwt=1e4)
NonLinMPC controller with a sample time Ts = 10.0 s:
├ estimator: UnscentedKalmanFilter
├ model: NonLinModel
Expand All @@ -409,7 +409,7 @@ NonLinMPC controller with a sample time Ts = 10.0 s:
│ ├ 0 unmeasured outputs yu
│ └ 0 measured disturbances d
└ optimization:
├ 3 decision variables Z̃ (1 slack variable)
├ 3 decision variables Z̃ (1 slack variable, 1 bounds)
├ 0 linear inequality constraints A (0 custom)
├ 0 linear equality constraints Aeq
├ 0 nonlinear inequality constraints g (0 custom)
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4 changes: 2 additions & 2 deletions src/estimator/mhe/construct.jl
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Expand Up @@ -342,7 +342,7 @@ MovingHorizonEstimator estimator with a sample time Ts = 10.0 s:
│ ├ 0 unmeasured outputs yu
│ └ 0 measured disturbances d
└ optimization:
├ 12 decision variables Z̃ (0 slack variable)
├ 12 decision variables Z̃ (0 slack variable, 0 bounds)
├ 0 linear inequality constraints A
└ 0 nonlinear inequality constraints g (0 custom)
```
Expand Down Expand Up @@ -789,7 +789,7 @@ MovingHorizonEstimator estimator with a sample time Ts = 1.0 s:
│ ├ 0 unmeasured outputs yu
│ └ 0 measured disturbances d
└ optimization:
├ 8 decision variables Z̃ (0 slack variable)
├ 8 decision variables Z̃ (0 slack variable, 4 bounds)
├ 12 linear inequality constraints A
└ 0 nonlinear inequality constraints g (0 custom)
```
Expand Down