doc: minor modification

Author: franckgaga

src/controller/construct.jl

@@ -780,12 +780,12 @@ constraints:
     \mathbf{A_{U_{max}}} 
 \end{bmatrix} \mathbf{ΔŨ} ≤
 \begin{bmatrix}
-    - \mathbf{(U_{min} - U_{op}) + T} \mathbf{u_0}(k-1) \\
-    + \mathbf{(U_{max} - U_{op}) - T} \mathbf{u_0}(k-1)
+    - \mathbf{(U_{min}) + T} \mathbf{u}(k-1) \\
+    + \mathbf{(U_{max}) - T} \mathbf{u}(k-1)
 \end{bmatrix}
 ```
-in which ``\mathbf{U_{min}, U_{max}}`` and ``\mathbf{U_{op}}`` vectors respectively contains
-``\mathbf{u_{min}, u_{max}}`` and ``\mathbf{u_{op}}`` repeated ``H_p`` times.
+in which ``\mathbf{U_{min}}`` and ``\mathbf{U_{max}}`` vectors respectively contains
+``\mathbf{u_{min}}`` and ``\mathbf{u_{max}}`` repeated ``H_p`` times.
 """
 function relaxU(::SimModel{NT}, nϵ, C_umin, C_umax, S) where NT<:Real
     if nϵ == 1 # ΔŨ = [ΔU; ϵ]

src/controller/execute.jl

@@ -285,9 +285,9 @@ function linconstraint!(mpc::PredictiveController, model::LinModel)
         mul!(fx̂, mpc.con.jx̂, mpc.D̂0, 1, 1)
     end
     n = 0
-    mpc.con.b[(n+1):(n+nU)]  .= @. -mpc.con.U0min + (mpc.T_lastu - mpc.Uop)
+    mpc.con.b[(n+1):(n+nU)]  .= @. -mpc.con.U0min - mpc.Uop + mpc.T_lastu
     n += nU
-    mpc.con.b[(n+1):(n+nU)]  .= @. +mpc.con.U0max - (mpc.T_lastu - mpc.Uop)
+    mpc.con.b[(n+1):(n+nU)]  .= @. +mpc.con.U0max + mpc.Uop - mpc.T_lastu
     n += nU
     mpc.con.b[(n+1):(n+nΔŨ)] .= @. -mpc.con.ΔŨmin
     n += nΔŨ
@@ -311,9 +311,9 @@ end
 function linconstraint!(mpc::PredictiveController, ::SimModel)
     nU, nΔŨ = length(mpc.con.U0min), length(mpc.con.ΔŨmin)
     n = 0
-    mpc.con.b[(n+1):(n+nU)]  .= @. -mpc.con.U0min + (mpc.T_lastu - mpc.Uop)
+    mpc.con.b[(n+1):(n+nU)]  .= @. -mpc.con.U0min - mpc.Uop + mpc.T_lastu
     n += nU
-    mpc.con.b[(n+1):(n+nU)]  .= @. +mpc.con.U0max - (mpc.T_lastu - mpc.Uop)
+    mpc.con.b[(n+1):(n+nU)]  .= @. -mpc.con.U0min - mpc.Uop + mpc.T_lastu
     n += nU
     mpc.con.b[(n+1):(n+nΔŨ)] .= @. -mpc.con.ΔŨmin
     n += nΔŨ