test: new tests with NonLinModel parameter arg. p

Author: franckgaga

src/model/nonlinmodel.jl

@@ -69,8 +69,8 @@ functions are defined as:
 ```
 where ``\mathbf{x}``, ``\mathbf{y}``, ``\mathbf{u}``, ``\mathbf{d}`` and ``\mathbf{p}`` are
 respectively the state, output, manipulated input, measured disturbance and parameter
-vectors. If the dynamics is a function of time, simply add a measured disturbance defined as
-``d(t) = t``. The functions can be implemented in two possible ways:
+vectors. If the dynamics is a function of the time, simply add a measured disturbance
+defined as ``d(t) = t``. The functions can be implemented in two possible ways:
 
 1. **Non-mutating functions** (out-of-place): define them as `f(x, u, d, p) -> ẋ` and
    `h(x, d, p) -> y`. This syntax is simple and intuitive but it allocates more memory.

test/test_predictive_control.jl

@@ -474,9 +474,9 @@ end
     linmodel1 = LinModel(sys,Ts,i_d=[3])
     nmpc0 = NonLinMPC(linmodel1, Hp=15)
     @test isa(nmpc0.estim, SteadyKalmanFilter)
-    f = (x,u,d,_) -> linmodel1.A*x + linmodel1.Bu*u + linmodel1.Bd*d
-    h = (x,d,_)   -> linmodel1.C*x + linmodel1.Dd*d
-    nonlinmodel = NonLinModel(f, h, Ts, 2, 4, 2, 1, solver=nothing)
+    f = (x,u,d,model) -> model.A*x + model.Bu*u + model.Bd*d
+    h = (x,d,model)   -> model.C*x + model.Dd*d
+    nonlinmodel = NonLinModel(f, h, Ts, 2, 4, 2, 1, p=linmodel1, solver=nothing)
     nmpc1 = NonLinMPC(nonlinmodel, Hp=15)
     @test isa(nmpc1.estim, UnscentedKalmanFilter)
     @test size(nmpc1.R̂y0, 1) == 15*nmpc1.estim.model.ny

test/test_sim_model.jl

@@ -144,9 +144,9 @@ end
 
 @testset "NonLinModel construction" begin
     linmodel1 = LinModel(sys,Ts,i_u=[1,2])
-    f1(x,u,_,_) = linmodel1.A*x + linmodel1.Bu*u
-    h1(x,_,_)   = linmodel1.C*x
-    nonlinmodel1 = NonLinModel(f1,h1,Ts,2,2,2,solver=nothing)
+    f1(x,u,_,model) = model.A*x + model.Bu*u
+    h1(x,_,model)   = model.C*x
+    nonlinmodel1 = NonLinModel(f1,h1,Ts,2,2,2,solver=nothing,p=linmodel1)
     @test nonlinmodel1.nx == 2
     @test nonlinmodel1.nu == 2
     @test nonlinmodel1.nd == 0
@@ -244,9 +244,9 @@ end
 
 @testset "NonLinModel sim methods" begin
     linmodel1 = LinModel(sys,Ts,i_u=[1,2])
-    f1(x,u,_,_) = linmodel1.A*x + linmodel1.Bu*u
-    h1(x,_,_)   = linmodel1.C*x
-    nonlinmodel = NonLinModel(f1,h1,Ts,2,2,2,solver=nothing)
+    f1(x,u,_,model) = model.A*x + model.Bu*u
+    h1(x,_,model)   = model.C*x
+    nonlinmodel = NonLinModel(f1,h1,Ts,2,2,2,p=linmodel1,solver=nothing)
 
     @test updatestate!(nonlinmodel, zeros(2,)) ≈ zeros(2) 
     @test updatestate!(nonlinmodel, zeros(2,), Float64[]) ≈ zeros(2)