test: new linearize test with no meas. dist. and AutoFiniteDiff

Author: franckgaga

src/controller/execute.jl

@@ -208,7 +208,7 @@ function initpred!(mpc::PredictiveController, model::LinModel, d, D̂, R̂y, R̂
     F .+= mpc.B                                 # F = F + B
     mul!(F, mpc.K, mpc.estim.x̂0, 1, 1)          # F = F + K*x̂0
     mul!(F, mpc.V, mpc.estim.lastu0, 1, 1)      # F = F + V*lastu0
-    if model.nd ≠ 0
+    if model.nd > 0
         mul!(F, mpc.G, mpc.d0, 1, 1)            # F = F + G*d0
         mul!(F, mpc.J, mpc.D̂0, 1, 1)            # F = F + J*D̂0
     end
@@ -256,7 +256,7 @@ is an [`InternalModel`](@ref). The function returns `mpc.F`.
 function initpred_common!(mpc::PredictiveController, model::SimModel, d, D̂, R̂y, R̂u)
     mul!(mpc.Tu_lastu0, mpc.Tu, mpc.estim.lastu0)
     mpc.ŷ .= evaloutput(mpc.estim, d)
-    if model.nd ≠ 0
+    if model.nd > 0
         mpc.d0 .= d .- model.dop
         mpc.D̂0 .= D̂ .- mpc.Dop
         mpc.D̂e[1:model.nd]     .= d

test/1_test_sim_model.jl

@@ -355,6 +355,11 @@ end
         Ynl, Yl
     end
     @test all(isapprox.(Ynl, Yl, atol=1e-6))
+
+    f2!(xnext, x, u, _, _) = (xnext .= x .+ u)
+    h2!(y, x, _, _) = (y .= x)
+    nonlinmodel4 = NonLinModel(f2!,h2!,Ts,1,1,1,0,solver=nothing,jacobian=AutoFiniteDiff())
+    @test_nowarn linearize(nonlinmodel4, x=[1], u=[2])
 end
 
 @testitem "NonLinModel real time simulations" setup=[SetupMPCtests] begin