build based on 46584b8

previews/PR145/.documenter-siteinfo.json

@@ -1 +1 @@
-{"documenter":{"julia_version":"1.11.2","generation_timestamp":"2024-12-28T20:16:38","documenter_version":"1.8.0"}}
+{"documenter":{"julia_version":"1.11.2","generation_timestamp":"2024-12-28T23:30:28","documenter_version":"1.8.0"}}

previews/PR145/manual/linmpc/index.html

@@ -131,4 +131,4 @@
 u, y, d = model.uop, model(), mpc_d.estim.model.dop
 initstate!(mpc_d, u, y, d)
 u_data, y_data, ry_data = test_mpc_d(mpc_d, model)
-plot_data(t_data, u_data, y_data, ry_data)</code></pre><p><img src="../plot4_LinMPC.svg" alt="plot4_LinMPC"/></p><p>Note that measured disturbances are assumed constant in the future by default but custom <span>$\mathbf{D̂}$</span> predictions are possible. The same applies for the setpoint predictions <span>$\mathbf{R̂_y}$</span>.</p><section class="footnotes is-size-7"><ul><li class="footnote" id="footnote-1"><a class="tag is-link" href="#citeref-1">1</a>As an alternative to state observer, we could have use an <a href="../../public/state_estim/#InternalModel"><code>InternalModel</code></a> structure with <code>mpc = LinMPC(InternalModel(model), Hp=15, Hc=2, Mwt=[1, 1], Nwt=[0.1, 0.1])</code>. It was tested on the example of this page and it gave similar results.</li></ul></section></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../installation/">« Installation</a><a class="docs-footer-nextpage" href="../nonlinmpc/">Nonlinear Design »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.8.0 on <span class="colophon-date" title="Saturday 28 December 2024 20:16">Saturday 28 December 2024</span>. Using Julia version 1.11.2.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
+plot_data(t_data, u_data, y_data, ry_data)</code></pre><p><img src="../plot4_LinMPC.svg" alt="plot4_LinMPC"/></p><p>Note that measured disturbances are assumed constant in the future by default but custom <span>$\mathbf{D̂}$</span> predictions are possible. The same applies for the setpoint predictions <span>$\mathbf{R̂_y}$</span>.</p><section class="footnotes is-size-7"><ul><li class="footnote" id="footnote-1"><a class="tag is-link" href="#citeref-1">1</a>As an alternative to state observer, we could have use an <a href="../../public/state_estim/#InternalModel"><code>InternalModel</code></a> structure with <code>mpc = LinMPC(InternalModel(model), Hp=15, Hc=2, Mwt=[1, 1], Nwt=[0.1, 0.1])</code>. It was tested on the example of this page and it gave similar results.</li></ul></section></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../installation/">« Installation</a><a class="docs-footer-nextpage" href="../nonlinmpc/">Nonlinear Design »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.8.0 on <span class="colophon-date" title="Saturday 28 December 2024 23:30">Saturday 28 December 2024</span>. Using Julia version 1.11.2.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>

previews/PR145/manual/mtk/index.html

@@ -74,13 +74,13 @@
 inputs, outputs = [mtk_model.τ], [mtk_model.y]
 f!, h!, p, nu, nx, ny, vx = generate_f_h(mtk_model, inputs, outputs)
 Ts = 0.1
-vu, vy = [&quot;\$τ\$ (Nm)&quot;], [&quot;\$θ\$ (°)&quot;]</code></pre><p>A <a href="../../public/sim_model/#NonLinModel"><code>NonLinModel</code></a> can now be constructed:</p><pre><code class="language-julia hljs">model = setname!(NonLinModel(f!, h!, Ts, nu, nx, ny; p); u=vu, x=vx, y=vy)</code></pre><pre class="documenter-example-output"><code class="nohighlight hljs ansi">NonLinModel with a sample time Ts = 0.1 s, RungeKutta solver and:
+vu, vy = [&quot;\$τ\$ (Nm)&quot;], [&quot;\$θ\$ (°)&quot;]</code></pre><p>A <a href="../../public/sim_model/#NonLinModel"><code>NonLinModel</code></a> can now be constructed:</p><pre><code class="language-julia hljs">model = setname!(NonLinModel(f!, h!, Ts, nu, nx, ny; p); u=vu, x=vx, y=vy)</code></pre><pre class="documenter-example-output"><code class="nohighlight hljs ansi">NonLinModel with a sample time Ts = 0.1 s, RungeKutta(4) solver and:
  1 manipulated inputs u
  2 states x
  1 outputs y
  0 measured disturbances d</code></pre><p>We also instantiate a plant model with a 25 % larger friction coefficient <span>$K$</span>:</p><pre><code class="language-julia hljs">mtk_model.K = defaults(mtk_model)[mtk_model.K] * 1.25
 f_plant, h_plant, p = generate_f_h(mtk_model, inputs, outputs)
-plant = setname!(NonLinModel(f_plant, h_plant, Ts, nu, nx, ny; p); u=vu, x=vx, y=vy)</code></pre><pre class="documenter-example-output"><code class="nohighlight hljs ansi">NonLinModel with a sample time Ts = 0.1 s, RungeKutta solver and:
+plant = setname!(NonLinModel(f_plant, h_plant, Ts, nu, nx, ny; p); u=vu, x=vx, y=vy)</code></pre><pre class="documenter-example-output"><code class="nohighlight hljs ansi">NonLinModel with a sample time Ts = 0.1 s, RungeKutta(4) solver and:
  1 manipulated inputs u
  2 states x
  1 outputs y
@@ -101,4 +101,4 @@
 N = 35
 res_ry = sim!(nmpc, N, [180.0], plant=plant, x_0=[0, 0], x̂_0=[0, 0, 0])
 plot(res_ry)</code></pre><p><img src="../plot1_MTK.svg" alt="plot1_MTK"/></p><p>and also the output disturbance rejection:</p><pre><code class="language-julia hljs">res_yd = sim!(nmpc, N, [180.0], plant=plant, x_0=[π, 0], x̂_0=[π, 0, 0], y_step=[10])
-plot(res_yd)</code></pre><p><img src="../plot2_MTK.svg" alt="plot2_MTK"/></p><h2 id="Acknowledgement"><a class="docs-heading-anchor" href="#Acknowledgement">Acknowledgement</a><a id="Acknowledgement-1"></a><a class="docs-heading-anchor-permalink" href="#Acknowledgement" title="Permalink"></a></h2><p>Authored by <code>1-Bart-1</code> and <code>baggepinnen</code>, thanks for the contribution.</p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../nonlinmpc/">« Nonlinear Design</a><a class="docs-footer-nextpage" href="../../public/sim_model/">Plant Models »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.8.0 on <span class="colophon-date" title="Saturday 28 December 2024 20:16">Saturday 28 December 2024</span>. Using Julia version 1.11.2.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
+plot(res_yd)</code></pre><p><img src="../plot2_MTK.svg" alt="plot2_MTK"/></p><h2 id="Acknowledgement"><a class="docs-heading-anchor" href="#Acknowledgement">Acknowledgement</a><a id="Acknowledgement-1"></a><a class="docs-heading-anchor-permalink" href="#Acknowledgement" title="Permalink"></a></h2><p>Authored by <code>1-Bart-1</code> and <code>baggepinnen</code>, thanks for the contribution.</p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../nonlinmpc/">« Nonlinear Design</a><a class="docs-footer-nextpage" href="../../public/sim_model/">Plant Models »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.8.0 on <span class="colophon-date" title="Saturday 28 December 2024 23:30">Saturday 28 December 2024</span>. Using Julia version 1.11.2.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>

previews/PR145/manual/nonlinmpc/index.html

@@ -19,7 +19,7 @@
 p_model = [9.8, 0.4, 1.2, 0.3]
 nu, nx, ny, Ts = 1, 2, 1, 0.1
 vu, vx, vy = ["\$τ\$ (Nm)"], ["\$θ\$ (rad)", "\$ω\$ (rad/s)"], ["\$θ\$ (°)"]
-model = setname!(NonLinModel(f, h, Ts, nu, nx, ny; p=p_model); u=vu, x=vx, y=vy)</code></pre><pre class="documenter-example-output"><code class="nohighlight hljs ansi">NonLinModel with a sample time Ts = 0.1 s, RungeKutta solver and:
+model = setname!(NonLinModel(f, h, Ts, nu, nx, ny; p=p_model); u=vu, x=vx, y=vy)</code></pre><pre class="documenter-example-output"><code class="nohighlight hljs ansi">NonLinModel with a sample time Ts = 0.1 s, RungeKutta(4) solver and:
  1 manipulated inputs u
  2 states x
  1 outputs y
@@ -173,4 +173,4 @@
 res_slin = sim_adapt!(mpc3, model, N, ry, plant, x_0, x̂_0)
 plot(res_slin)</code></pre><p><img src="../plot12_NonLinMPC.svg" alt="plot12_NonLinMPC"/></p><p>and the 10° step disturbance:</p><pre><code class="language-julia hljs">x_0 = [π, 0]; x̂_0 = [π, 0, 0]; y_step = [10]
 res_slin = sim_adapt!(mpc3, model, N, ry, plant, x_0, x̂_0, y_step)
-plot(res_slin)</code></pre><p><img src="../plot13_NonLinMPC.svg" alt="plot13_NonLinMPC"/></p><p>The computations of the successive linearization MPC are about 75 times faster than the nonlinear MPC on average, an impressive gain for similar closed-loop performances!</p><section class="footnotes is-size-7"><ul><li class="footnote" id="footnote-1"><a class="tag is-link" href="#citeref-1">1</a>Arnström, D., Bemporad, A., and Axehill, D. (2022). A dual active-set solver for embedded quadratic programming using recursive LDLᵀ updates. IEEE Trans. Autom. Contr., 67(8). <a href="https://doi.org/doi:10.1109/TAC.2022.3176430">https://doi.org/doi:10.1109/TAC.2022.3176430</a>.</li></ul></section></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../linmpc/">« Linear Design</a><a class="docs-footer-nextpage" href="../mtk/">ModelingToolkit »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.8.0 on <span class="colophon-date" title="Saturday 28 December 2024 20:16">Saturday 28 December 2024</span>. Using Julia version 1.11.2.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
+plot(res_slin)</code></pre><p><img src="../plot13_NonLinMPC.svg" alt="plot13_NonLinMPC"/></p><p>The computations of the successive linearization MPC are about 75 times faster than the nonlinear MPC on average, an impressive gain for similar closed-loop performances!</p><section class="footnotes is-size-7"><ul><li class="footnote" id="footnote-1"><a class="tag is-link" href="#citeref-1">1</a>Arnström, D., Bemporad, A., and Axehill, D. (2022). A dual active-set solver for embedded quadratic programming using recursive LDLᵀ updates. IEEE Trans. Autom. Contr., 67(8). <a href="https://doi.org/doi:10.1109/TAC.2022.3176430">https://doi.org/doi:10.1109/TAC.2022.3176430</a>.</li></ul></section></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../linmpc/">« Linear Design</a><a class="docs-footer-nextpage" href="../mtk/">ModelingToolkit »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.8.0 on <span class="colophon-date" title="Saturday 28 December 2024 23:30">Saturday 28 December 2024</span>. Using Julia version 1.11.2.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>