Merge pull request #339 from JuliaControl/getinfo_states

added: current estimate `x̂` and last input `lastu` in `getinfo` dictionnary for MPCs

Author: franckgaga

Project.toml

@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "2.1.2"
+version = "2.2.0"
 authors = ["Francis Gagnon"]
 
 [deps]

src/controller/execute.jl

@@ -93,16 +93,18 @@ The function should be called after calling [`moveinput!`](@ref). It returns the
 - `:ΔU` or *`:DeltaU`* : optimal manipulated input increments over ``H_c``, ``\mathbf{ΔU}``
 - `:ϵ` or *`:epsilon`* : optimal slack variable, ``ϵ``
 - `:D̂` or *`:Dhat`* : predicted measured disturbances over ``H_p``, ``\mathbf{D̂}``
+- `:x̂` or *`:xhat`* : current estimated state, ``\mathbf{x̂}_i(k)``
 - `:ŷ` or *`:yhat`* : current estimated output, ``\mathbf{ŷ}(k)``
 - `:Ŷ` or *`:Yhat`* : optimal predicted outputs over ``H_p``, ``\mathbf{Ŷ}``
 - `:Ŷs` or *`:Yhats`* : predicted stochastic output over ``H_p`` of [`InternalModel`](@ref), ``\mathbf{Ŷ_s}``
 - `:R̂y` or *`:Rhaty`* : predicted output setpoint over ``H_p``, ``\mathbf{R̂_y}``
 - `:R̂u` or *`:Rhatu`* : predicted manipulated input setpoint over ``H_p``, ``\mathbf{R̂_u}``
 - `:x̂end` or *`:xhatend`* : optimal terminal states, ``\mathbf{x̂}_i(k+H_p)``
-- `:J`   : objective value optimum, ``J``
-- `:U`   : optimal manipulated inputs over ``H_p``, ``\mathbf{U}``
-- `:u`   : current optimal manipulated input, ``\mathbf{u}(k)``
-- `:d`   : current measured disturbance, ``\mathbf{d}(k)``
+- `:J`     : objective value optimum, ``J``
+- `:U`     : optimal manipulated inputs over ``H_p``, ``\mathbf{U}``
+- `:u`     : current optimal manipulated input, ``\mathbf{u}(k)``
+- `:d`     : current measured disturbance, ``\mathbf{d}(k)``
+- `:lastu` : last manipulated input, ``\mathbf{u}(k-1)``
 
 For [`LinMPC`](@ref) and [`NonLinMPC`](@ref), the following fields are also available:
 
@@ -160,23 +162,26 @@ function getinfo(mpc::PredictiveController{NT}) where NT<:Real
     J = obj_nonlinprog!(Ŷ0, U0, mpc, Ue, Ŷe, ΔŨ)
     Ŷs = similar(mpc.Yop)
     predictstoch!(Ŷs, mpc, mpc.estim)
-    info[:ΔU]   = Z̃[1:mpc.Hc*model.nu]
-    info[:ϵ]    = getϵ(mpc, Z̃)
-    info[:J]    = J
-    info[:U]    = U
-    info[:u]    = info[:U][1:model.nu]
-    info[:d]    = mpc.d0 + model.dop
-    info[:D̂]    = D̂
-    info[:ŷ]    = mpc.ŷ
-    info[:Ŷ]    = Ŷ
-    info[:x̂end] = x̂0end + mpc.estim.x̂op
-    info[:Ŷs]   = Ŷs
-    info[:R̂y]   = mpc.R̂y
-    info[:R̂u]   = mpc.R̂u
+    info[:ΔU]    = Z̃[1:mpc.Hc*model.nu]
+    info[:ϵ]     = getϵ(mpc, Z̃)
+    info[:J]     = J
+    info[:U]     = U
+    info[:u]     = info[:U][1:model.nu]
+    info[:lastu] = mpc.lastu0 .+ model.uop
+    info[:d]     = mpc.d0 + model.dop
+    info[:D̂]     = D̂
+    info[:x̂]     = mpc.estim.x̂0 .+ mpc.estim.x̂op
+    info[:ŷ]     = mpc.ŷ
+    info[:Ŷ]     = Ŷ
+    info[:x̂end]  = x̂0end + mpc.estim.x̂op
+    info[:Ŷs]    = Ŷs
+    info[:R̂y]    = mpc.R̂y
+    info[:R̂u]    = mpc.R̂u
     # --- non-Unicode fields ---
     info[:DeltaU] = info[:ΔU]
     info[:epsilon] = info[:ϵ]
     info[:Dhat] = info[:D̂]
+    info[:xhat] = info[:x̂]
     info[:yhat] = info[:ŷ]
     info[:Yhat] = info[:Ŷ]
     info[:xhatend] = info[:x̂end]

src/general.jl

@@ -22,7 +22,7 @@ const HIDDEN_GETINFO_KEYS_MHE = (
 )
 
 const HIDDEN_GETINFO_KEYS_MPC = (
-    :DeltaU, :epsilon, :Dhat, :yhat, :Yhat, :xhatend, :Yhats, :Rhaty, :Rhatu,
+    :DeltaU, :epsilon, :Dhat, :xhat, :yhat, :Yhat, :xhatend, :Yhats, :Rhaty, :Rhatu,
     :nablaJ, :nabla2J, :nablag, :nabla2lg, :nablageq, :nabla2lgeq
 )