removed: mpc.buffer.R̂y

Useless buffer. We can use `mpc.buffer.Ŷ` instead

Author: franckgaga

src/controller/execute.jl

@@ -53,8 +53,8 @@ function moveinput!(
     mpc::PredictiveController, 
     ry::Vector = mpc.estim.model.yop, 
     d ::Vector = mpc.buffer.empty;
-    Dhat ::Vector = repeat!(mpc.buffer.D̂,  d,  mpc.Hp),
-    Rhaty::Vector = repeat!(mpc.buffer.R̂y, ry, mpc.Hp),
+    Dhat ::Vector = repeat!(mpc.buffer.D̂, d,  mpc.Hp),
+    Rhaty::Vector = repeat!(mpc.buffer.Ŷ, ry, mpc.Hp),
     Rhatu::Vector = mpc.Uop,
     D̂  = Dhat,
     R̂y = Rhaty,
@@ -323,7 +323,7 @@ function linconstraint!(mpc::PredictiveController, ::SimModel)
     mpc.con.b[(n+1):(n+nΔŨ)] .= @. +mpc.con.ΔŨmax
     if any(mpc.con.i_b) 
         lincon = mpc.optim[:linconstraint]
-        JuMP.set_normalized_rhs(lincon, mpc.con.b[mpc.con.i_b])
+        @views JuMP.set_normalized_rhs(lincon, mpc.con.b[mpc.con.i_b])
     end
     return nothing
 end

src/predictive_control.jl

@@ -21,7 +21,6 @@ abstract type PredictiveController{NT<:Real} end
 
 struct PredictiveControllerBuffer{NT<:Real}
     u ::Vector{NT}
-    R̂y::Vector{NT}
     D̂ ::Vector{NT}
     Ŷ ::Vector{NT}
     U ::Vector{NT}
@@ -41,14 +40,13 @@ function PredictiveControllerBuffer{NT}(
     nu::Int, ny::Int, nd::Int, Hp::Int, Hc::Int, nϵ::Int
 ) where NT <: Real
     u  = Vector{NT}(undef, nu)
-    R̂y = Vector{NT}(undef, ny*Hp)
     D̂  = Vector{NT}(undef, nd*Hp)
     Ŷ  = Vector{NT}(undef, ny*Hp)
     U  = Vector{NT}(undef, nu*Hp)
     Ẽ  = Matrix{NT}(undef, ny*Hp, nu*Hc + nϵ)
     S̃  = Matrix{NT}(undef, nu*Hp, nu*Hc + nϵ)
     empty = Vector{NT}(undef, 0)
-    return PredictiveControllerBuffer{NT}(u, R̂y, D̂, Ŷ, U, Ẽ, S̃, empty)
+    return PredictiveControllerBuffer{NT}(u, D̂, Ŷ, U, Ẽ, S̃, empty)
 end
 
 include("controller/construct.jl")