Merge pull request #227 from JuliaControl/new_version

bump

Author: franckgaga

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "1.8.1"
+version = "1.8.2"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"

benchmark/2_bench_state_estim.jl

@@ -303,6 +303,7 @@ mhe_pendulum_ipopt_curr = MovingHorizonEstimator(
 )
 mhe_pendulum_ipopt_curr = setconstraint!(mhe_pendulum_ipopt_curr; v̂min, v̂max)
 JuMP.unset_time_limit_sec(mhe_pendulum_ipopt_curr.optim)
+JuMP.set_attribute(mhe_pendulum_ipopt_curr.optim, "tol", 1e-7)
 
 optim = JuMP.Model(optimizer_with_attributes(Ipopt.Optimizer,"sb"=>"yes"), add_bridges=false)
 direct = false
@@ -311,6 +312,7 @@ mhe_pendulum_ipopt_pred = MovingHorizonEstimator(
 )
 mhe_pendulum_ipopt_pred = setconstraint!(mhe_pendulum_ipopt_pred; v̂min, v̂max)
 JuMP.unset_time_limit_sec(mhe_pendulum_ipopt_pred.optim)
+JuMP.set_attribute(mhe_pendulum_ipopt_pred.optim, "tol", 1e-7)
 
 optim = JuMP.Model(MadNLP.Optimizer, add_bridges=false)
 direct = true
@@ -319,6 +321,7 @@ mhe_pendulum_madnlp_curr = MovingHorizonEstimator(
 )
 mhe_pendulum_madnlp_curr = setconstraint!(mhe_pendulum_madnlp_curr; v̂min, v̂max)
 JuMP.unset_time_limit_sec(mhe_pendulum_madnlp_curr.optim)
+JuMP.set_attribute(mhe_pendulum_madnlp_curr.optim, "tol", 1e-7)
 
 optim = JuMP.Model(MadNLP.Optimizer, add_bridges=false)
 direct = false
@@ -327,6 +330,7 @@ mhe_pendulum_madnlp_pred = MovingHorizonEstimator(
 )
 mhe_pendulum_madnlp_pred = setconstraint!(mhe_pendulum_madnlp_pred; v̂min, v̂max)
 JuMP.unset_time_limit_sec(mhe_pendulum_madnlp_pred.optim)
+JuMP.set_attribute(mhe_pendulum_madnlp_pred.optim, "tol", 1e-7)
 
 samples, evals, seconds = 10, 1, 15*60
 CASE_ESTIM["Pendulum"]["MovingHorizonEstimator"]["Ipopt"]["Current form"] =

test/2_test_state_estim.jl

@@ -916,6 +916,7 @@ end
     nonlinmodel = setop!(nonlinmodel, uop=[10,50], yop=[50,30], dop=[5])
 
     mhe1 = MovingHorizonEstimator(nonlinmodel, He=2)
+    JuMP.set_attribute(mhe1.optim, "tol", 1e-7)
     preparestate!(mhe1, [50, 30], [5])
     x̂ = updatestate!(mhe1, [10, 50], [50, 30], [5])
     @test x̂ ≈ zeros(6) atol=1e-9
@@ -944,6 +945,7 @@ end
     @test mhe1([5]) ≈ [51, 32] atol=1e-3
 
     mhe1 = MovingHorizonEstimator(nonlinmodel, He=2, nint_u=[1, 1], nint_ym=[0, 0], direct=false)
+    JuMP.set_attribute(mhe1.optim, "tol", 1e-7)
     preparestate!(mhe1, [50, 30], [5])
     x̂ = updatestate!(mhe1, [10, 50], [50, 30], [5])
     @test x̂ ≈ zeros(6) atol=1e-9
@@ -1065,7 +1067,8 @@ end
         updatestate!(mhe1, [0.0], y)
         updatestate!(model, [0.1])
     end
-    @test mhe1() ≈ model() atol = 1e-9
+    preparestate!(mhe1, model())
+    @test mhe1() ≈ model() atol = 1e-6
     model = NonLinModel(f, h, 10.0, 1, 1, 1, solver=nothing)
     mhe2 = MovingHorizonEstimator(model, nint_u=[1], He=3, direct=false) 
     for i = 1:40
@@ -1074,7 +1077,8 @@ end
         updatestate!(mhe2, [0.0], y)
         updatestate!(model, [0.1])
     end
-    @test mhe2() ≈ model() atol = 1e-9
+    preparestate!(mhe2, model())
+    @test mhe2() ≈ model() atol = 1e-6
 end
 
 @testitem "MovingHorizonEstimator fallbacks for arrival covariance estimation" setup=[SetupMPCtests] begin

test/3_test_predictive_control.jl

@@ -1022,12 +1022,13 @@ end
 end
 
 @testitem "NonLinMPC constraint violation" setup=[SetupMPCtests] begin
-    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP
     gc(Ue, Ŷe, _ ,p , ϵ) = [p[1]*(Ue[1:end-1] .- 4.2 .- ϵ); p[2]*(Ŷe[2:end] .- 3.14 .- ϵ)]
     Hp=50
 
     linmodel = LinModel(tf([2], [10000, 1]), 3000.0)
     nmpc_lin = NonLinMPC(linmodel; Hp, Hc=5, gc, nc=2Hp, p=[0; 0])
+    JuMP.set_attribute(nmpc_lin.optim, "constr_viol_tol", 1e-3)
 
     setconstraint!(nmpc_lin, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
     setconstraint!(nmpc_lin, umin=[-10], umax=[10])
@@ -1098,6 +1099,7 @@ end
     h = (x,_,p)   -> p.C*x
     nonlinmodel = NonLinModel(f, h, linmodel.Ts, 1, 1, 1, solver=nothing, p=linmodel)
     nmpc = NonLinMPC(nonlinmodel; Hp, Hc=5, gc, nc=2Hp, p=[0; 0])
+    JuMP.set_attribute(nmpc.optim, "constr_viol_tol", 1e-3)
 
     setconstraint!(nmpc, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
     setconstraint!(nmpc, umin=[-1e6], umax=[+1e6])
@@ -1167,6 +1169,7 @@ end
     nmpc_ms = NonLinMPC(
         nonlinmodel; Hp, Hc=5, transcription=MultipleShooting(), gc, nc=2Hp, p=[0; 0]
     )
+    JuMP.set_attribute(nmpc_ms.optim, "constr_viol_tol", 1e-3)
 
     setconstraint!(nmpc_ms, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
     setconstraint!(nmpc_ms, ymin=[-100], ymax=[100])