Merge pull request #210 from JuliaControl/doc_correction

new `ManualEstimator` tests and minor doc corrections

Author: franckgaga

src/controller/explicitmpc.jl

@@ -105,8 +105,8 @@ The controller minimizes the following objective function at each discrete time
 See [`LinMPC`](@ref) for the variable definitions. This controller does not support
 constraints but the computational costs are extremely low (array division), therefore 
 suitable for applications that require small sample times. The keyword arguments are
-identical to [`LinMPC`](@ref), except for `Cwt` and `optim` which are not supported. This
-controller uses a [`SingleShooting`](@ref) transcription method.
+identical to [`LinMPC`](@ref), except for `Cwt`, `transcription` and `optim`, which are not
+supported. This controller uses a [`SingleShooting`](@ref) transcription method.
 
 This method uses the default state estimator, a [`SteadyKalmanFilter`](@ref) with default
 arguments. This controller is allocation-free.

src/estimator/internal_model.jl

@@ -70,7 +70,7 @@ unmeasured ``\mathbf{y^u}``. `model` evaluates the deterministic predictions
 ``\mathbf{ŷ_d}``, and `stoch_ym`, the stochastic predictions of the measured outputs 
 ``\mathbf{ŷ_s^m}`` (the unmeasured ones being ``\mathbf{ŷ_s^u=0}``). The predicted outputs
 sum both values : ``\mathbf{ŷ = ŷ_d + ŷ_s}``. See the Extended Help for more details. This
-estimator is allocation-free is `model` simulations do not allocate.
+estimator is allocation-free if `model` simulations do not allocate.
 
 !!! warning
     `InternalModel` estimator does not work if `model` is integrating or unstable. The 

test/3_test_predictive_control.jl

@@ -180,6 +180,34 @@ end
     @test ym ≈ r   atol=1e-2 
 end
 
+@testitem "LinMPC and ManualEstimator v.s. default" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    linmodel = setop!(LinModel(tf(5, [2, 1]), 3.0), yop=[10])
+    r = [15]
+    outdist = [5]
+    U_man, U_def = let linmodel=linmodel, r=r, outdist=outdist
+        mpc_man = LinMPC(ManualEstimator(linmodel))
+        skf = SteadyKalmanFilter(linmodel)
+        mpc_def = LinMPC(linmodel)
+        linmodel.x0 .= 0
+        U_man, U_def = zeros(1, 25), zeros(1, 25)
+        for i=1:25
+            ym = linmodel() - outdist
+            x̂ = preparestate!(skf, ym)
+            setstate!(mpc_man, x̂)
+            preparestate!(mpc_def, ym)
+            u_man = moveinput!(mpc_man, r)
+            u_def = moveinput!(mpc_def, r)
+            U_man[:, i], U_def[:, i] = u_man, u_def
+            updatestate!(skf, u_man, ym)
+            updatestate!(mpc_def, u_def, ym)
+            updatestate!(linmodel, u_man)
+        end
+        U_man, U_def
+    end
+    @test U_man ≈ U_def atol=1e-9
+end
+
 @testitem "LinMPC other methods" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
@@ -852,6 +880,37 @@ end
     @test ym ≈ r   atol=1e-2
 end
 
+@testitem "NonLinMPC and ManualEstimator v.s. default" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    linmodel = LinModel(tf(5, [2, 1]), 3.0)
+    f(x,u,_,p) = p.A*x + p.Bu*u
+    h(x,_,p)   = p.C*x
+    model = setop!(NonLinModel(f, h, 3.0, 1, 1, 1; solver=nothing, p=linmodel), yop=[10])
+    r = [15]
+    outdist = [5]
+    U_man, U_def = let model=model, r=r, outdist=outdist
+        nmpc_man = NonLinMPC(ManualEstimator(model), Hp=10)
+        ukf = UnscentedKalmanFilter(model)
+        nmpc_def = NonLinMPC(model, Hp=10)
+        model.x0 .= 0
+        U_man, U_def = zeros(1, 25), zeros(1, 25)
+        for i=1:25
+            ym = model() - outdist
+            x̂ = preparestate!(ukf, ym)
+            setstate!(nmpc_man, x̂)
+            preparestate!(nmpc_def, ym)
+            u_man = moveinput!(nmpc_man, r)
+            u_def = moveinput!(nmpc_def, r)
+            U_man[:, i], U_def[:, i] = u_man, u_def
+            updatestate!(ukf, u_man, ym)
+            updatestate!(nmpc_def, u_def, ym)
+            updatestate!(model, u_man)
+        end
+        U_man, U_def
+    end
+    @test U_man ≈ U_def atol=1e-9
+end
+
 @testitem "NonLinMPC other methods" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])