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Jan 15, 2025
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doc: torques constraints AND power constraint in the example (manual) #150

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a790275
doc: power and torque limits in manual
franckgaga Jan 15, 2025
9727880
doc: minor correction
franckgaga Jan 15, 2025
ea8c657
doc: changing comment (no longer constraint violation)
franckgaga Jan 15, 2025
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7 changes: 4 additions & 3 deletions docs/src/manual/nonlinmpc.md
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Expand Up @@ -245,7 +245,7 @@ regenerative circuitry.

## Custom Nonlinear Inequality Constraints

Instead of limits on the torque, suppose that the motor can deliver a maximum of 3 watt:
In addition to the torque limits, suppose that the motor can deliver a maximum of 3 watt:

```math
P(t) = τ(t) ω(t) ≤ P_\mathrm{max}
Expand Down Expand Up @@ -288,6 +288,7 @@ specifying the number of custom inequality constraints `nc`:
```@example man_nonlin
Cwt, Pmax, nc = 1e5, 3, Hp+1
nmpc2 = NonLinMPC(estim2; Hp, Hc, Nwt=Nwt, Mwt=[0.5, 0], Cwt, gc!, nc, p=Pmax)
nmpc2 = setconstraint!(nmpc2; umin, umax)
using JuMP; unset_time_limit_sec(nmpc2.optim) # hide
nmpc2 # hide
```
Expand Down Expand Up @@ -319,8 +320,8 @@ savefig("plot7_NonLinMPC.svg"); nothing # hide

![plot7_NonLinMPC](plot7_NonLinMPC.svg)

The slight constraint violation is caused here by the modeling error on the friction
coefficient ``K``.
The controller is able to find a solution that does not violate the torque and power
constraints.

## Model Linearization

Expand Down
2 changes: 1 addition & 1 deletion src/controller/execute.jl
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Expand Up @@ -385,7 +385,7 @@ special cases in which `Ŷe`, `Ue` and `Ū` are not mutated:

- If `mpc.weights.iszero_M_Hp[] && nocustomfcts`, the `Ŷe` vector is not computed to reduce
the burden in the optimization problem.
- If `mpc.weights.iszero_L_Hc[] && nocustomfcts`, the `Ue` vector is not computed for the
- If `mpc.weights.iszero_L_Hp[] && nocustomfcts`, the `Ue` vector is not computed for the
same reason as above.
"""
function extended_predictions!(Ŷe, Ue, Ū, mpc, model, Ŷ0, ΔŨ)
Expand Down
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