0.2.0

Added

• Improved performances of non-linear mpc

Changed

• Added support in non-linear for output penalization in the objective function (Breaking change)
• In non-linear prediction step index is now available in the model update function (Breaking change)

0.1.0

Added

• Added support in linear mpc to define the references, weights, constraints and exogenous inputs different in each prediction step
• Added general support to the retrival of the optimal sequence (state, input and output)

Changed

• The API to set the references, weights constraints and exogenous inputs using vector now requires a span of the horizon (Breaking changes)
• Added new APIs to define the references, weights, constraints and exogenous inputs matrices to the whole horizon
• Internal structure of the library has been refactored to separate non-linear and linear classes

0.0.9

Added

• Added support for multiple mpc instances in the same executable

Changed

• Minimum c++ version required updated to c++20

0.0.8.2

Fixed

• Fixed issue on the compilation

v0.0.8.1

Changed

• Catch2 dependency updated to version 3

Fixed

• Improved performances while building the optimization problem in LOptimizer