doc: manual MTK now use p parameters of NonLinModel

Author: franckgaga

docs/src/manual/mtk.md

@@ -60,22 +60,22 @@ function generate_f_h(model, inputs, outputs)
     if any(ModelingToolkit.is_alg_equation, equations(io_sys)) 
         error("Systems with algebraic equations are not supported")
     end
-    h_ = ModelingToolkit.build_explicit_observed_function(io_sys, outputs; inputs = inputs)
+    h_ = ModelingToolkit.build_explicit_observed_function(io_sys, outputs; inputs)
     nx = length(dvs)
     vx = string.(dvs)
-    par = varmap_to_vars(defaults(io_sys), psym)
-    function f!(ẋ, x, u, _ , _ )
-        f_ip(ẋ, x, u, par, 1)
-        nothing
+    p = varmap_to_vars(defaults(io_sys), psym)
+    function f!(ẋ, x, u, _ , p)
+        f_ip(ẋ, x, u, p, 1)
+        return nothing
     end
-    function h!(y, x, _ , _ )
-        y .= h_(x, 1, par, 1)
-        nothing
+    function h!(y, x, _ , p)
+        y .= h_(x, 1, p, 1)
+        return nothing
     end
-    return f!, h!, nx, vx
+    return f!, h!, p, nx, vx
 end
 inputs, outputs = [mtk_model.τ], [mtk_model.y]
-f!, h!, nx, vx = generate_f_h(mtk_model, inputs, outputs)
+f!, h!, p, nx, vx = generate_f_h(mtk_model, inputs, outputs)
 nu, ny, Ts = length(inputs), length(outputs), 0.1
 vu, vy = ["\$τ\$ (Nm)"], ["\$θ\$ (°)"]
 nothing # hide
@@ -84,15 +84,15 @@ nothing # hide
 A [`NonLinModel`](@ref) can now be constructed:
 
 ```@example 1
-model = setname!(NonLinModel(f!, h!, Ts, nu, nx, ny); u=vu, x=vx, y=vy)
+model = setname!(NonLinModel(f!, h!, Ts, nu, nx, ny; p); u=vu, x=vx, y=vy)
 ```
 
 We also instantiate a plant model with a 25 % larger friction coefficient ``K``:
 
 ```@example 1
 mtk_model.K = defaults(mtk_model)[mtk_model.K] * 1.25
-f_plant, h_plant, _, _ = generate_f_h(mtk_model, inputs, outputs)
-plant = setname!(NonLinModel(f_plant, h_plant, Ts, nu, nx, ny); u=vu, x=vx, y=vy)
+f_plant, h_plant, p = generate_f_h(mtk_model, inputs, outputs)
+plant = setname!(NonLinModel(f_plant, h_plant, Ts, nu, nx, ny; p); u=vu, x=vx, y=vy)
 ```
 
 ## Controller Design