v2.7.0

ModelPredictiveControl v2.7.0

Diff since v2.6.0

Merged pull requests:

• doc: update con_nonlinprogeq! method docstring for OrthogonalCollocation (#398) (@franckgaga)
• doc: minor correction (#399) (@franckgaga)
• debug: do not fill unused decision variables in MovingHorizonEstimator after solve (#400) (@franckgaga)
• debug: truncate :V̂ and :X̂ fields in getinfo(estim::MovingHorizonEstimator) (#401) (@franckgaga)
• added: handle NaN values in measured outputs ym for MovingHorizonEstimator (#402) (@franckgaga)

v2.6.0

ModelPredictiveControl v2.6.0

Diff since v2.5.1

Merged pull requests:

• test: improve RungeKutta and LinearMPCext coverage (#395) (@franckgaga)
• changed: bump compat of FastGaussQuadrature (#396) (@franckgaga)
• added: treat continuity constraints as linear in OrthogonnalCollocation (#397) (@franckgaga)

v2.5.1

ModelPredictiveControl v2.5.1

Diff since v2.5.0

Merged pull requests:

• changed: hessian=true default to dense ForwardDiff for MovingHorizonEstimation (#369) (@franckgaga)
• doc: update jldoctests (#392) (@franckgaga)
• bench: using funnelsqp for Uno and excluding OrthogonalCollocation example (#393) (@franckgaga)
• Bump version from 2.5.0 to 2.5.1 (#394) (@franckgaga)

v2.5.0

ModelPredictiveControl v2.5.0

Diff since v2.4.4

• added: support box constraints in LinMPC and NonLinMPC
• added: support box constraints in MovingHorizonEstimator
• added: pretty-print optimization problem dimensions for MPC and MHE
• debug: softness parameter arguments of the setconstraint! method for the MHE now works
• debug: honor the P̂_0 argument at MovingHorizonEstimator construction
• added: covestim argument in both MovingHorizonEstimator constructors
• added: dispatch on the covestim type when inverting $\mathbf{\bar{P}}$ in the MovingHorizonEstimator
• doc: added C code generation example in “Manual: Linear Design” (via LinearMPC.jl)
• doc: other various improvements
• bench: various improvements to the benchmark suite
• test: improve coverage of predictive controller constraint violation

Merged pull requests:

• added: support box constraint in LinMPC and NonLinMPC (#379) (@franckgaga)
• bench: add_bridges=true for OSQP (#380) (@franckgaga)
• bench: increase samples for LinMPC (#382) (@franckgaga)
• bench: removed all LinMPC and MHE with Ipopt (#383) (@franckgaga)
• changed: Cwt=1e4 in custom constraints case study (#384) (@franckgaga)
• build(deps): bump actions/checkout from 6 to 7 (#385) (@dependabot[bot])
• doc: reverting to Cwt=1e5 for the pendulum in manual (#386) (@franckgaga)
• debug: setconstraint! for MHE and softness parameter arguments now works (#387) (@franckgaga)
• test: improve coverage of predictive controller constraint violation (#388) (@franckgaga)
• added: support box constraints in MovingHorizonEstimator (#389) (@franckgaga)
• added: reduce memory allocations in setconstraint! (#390) (@franckgaga)
• added: pretty-print box constraints (#391) (@franckgaga)

v2.4.4

ModelPredictiveControl v2.4.4

Diff since v2.4.3

Merged pull requests:

• added: dispatch on covestim type when inverting P̄ in the MovingHorizonEstimator (#375) (@franckgaga)
• bench: MovingHorizonEstimator with covestim=SteadyKalmanFilter(...) (#377) (@franckgaga)
• added: pretty-print optimization problem dimensions for MPC and MHE (#378) (@franckgaga)

v2.4.3

ModelPredictiveControl v2.4.3

Diff since v2.4.2

• added: covestim argument in both MovingHorizonEstimator constructors
• debug: honor P̂_0 argument at MovingHorizonEstimator construction if covestim is provided
• added: pass P̂_0=nothing with covestim=SteadyKalmanFilter(...) for arrival covariance at steady-state value

Merged pull requests:

• doc: minor improvments (#373) (@franckgaga)
• added: covestim arg. in both MovingHorizonEstimator constructors + honor P̂_0 (#374) (@franckgaga)

v2.4.2

ModelPredictiveControl v2.4.2

Diff since v2.4.1

• doc: added C code generation example in "Manual: Linear Design"

Merged pull requests:

• doc: minor correction (#370) (@franckgaga)
• build(deps): bump codecov/codecov-action from 6 to 7 (#371) (@dependabot[bot])
• doc: added C code generation example in "Manual: Linear Design" (#372) (@franckgaga)

Closed issues:

• Understanding why MovingHorizonEstimator Hessians are always fully dense (#368)

v2.4.1

ModelPredictiveControl v2.4.1

Diff since v2.4.0

Merged pull requests:

• doc: minor correction (#361) (@franckgaga)
• doc: MHE custom constraint feature in readme (#362) (@franckgaga)
• debug: adequate padding for MHE dimensions printing (#363) (@franckgaga)
• added: call gc with NaN values at boundaries in MovingHorizonEstimator construction (#364) (@franckgaga)
• added: quadratic objective for NonLinMPC with LinModel and Ewt=0 (#365) (@franckgaga)
• added: Jacobian and Hessians in getinfo(mhe) if nc>0 (#366) (@franckgaga)
• added: pretty-print estim.direct for all StateEstimators (#367) (@franckgaga)

v2.4.0

ModelPredictiveControl v2.4.0

Diff since v2.3.2

Merged pull requests:

• test: improve robustness of time-constrained tests (#356) (@franckgaga)
• Add image and badges to README.md (#357) (@franckgaga)
• changed: SVG logo + dark mode support (#358) (@franckgaga)
• changed: D0 length does not change anymore with mhe.direct (#359) (@franckgaga)
• added: custom nonlinear inequality constraints for MovingHorizonEstimator 🥳 (#360) (@franckgaga)

Closed issues:

• Support custom constraints for MovingHorizonEstimator (#350)

v2.3.2

ModelPredictiveControl v2.3.2

Diff since v2.3.1

Merged pull requests:

• added : reduce allocations in MovingHorizonEstimator and initstate! (#348) (@franckgaga)
• doc: minor correction (#351) (@franckgaga)
• build(deps): bump julia-actions/setup-julia from 2 to 3 (#353) (@dependabot[bot])
• doc: minor corrections (#354) (@franckgaga)
• Bump version from 2.3.1 to 2.3.2 (#355) (@franckgaga)