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changed: simpler code for stochastic predictions of InternalModel #157

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Feb 13, 2025
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changed: simpler code for stochastic predictions of InternalModel #157

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24 changes: 10 additions & 14 deletions src/controller/execute.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -126,10 +126,7 @@ function getinfo(mpc::PredictiveController{NT}) where NT<:Real
U, Ŷ = Ū, Ȳ
U .= mul!(U, mpc.S̃, mpc.ΔŨ) .+ mpc.T_lastu
Ŷ .= Ŷ0 .+ mpc.Yop
oldF = copy(mpc.F)
F = predictstoch!(mpc, mpc.estim)
Ŷs .= F # predictstoch! init mpc.F with Ŷs value if estim is an InternalModel
F .= oldF # restore old F value
predictstoch!(Ŷs, mpc, mpc.estim)
info[:ΔU] = mpc.ΔŨ[1:mpc.Hc*model.nu]
info[:ϵ] = mpc.nϵ == 1 ? mpc.ΔŨ[end] : zero(NT)
info[:J] = J
Expand Down Expand Up @@ -231,7 +228,7 @@ function initpred!(mpc::PredictiveController, model::SimModel, d, D̂, R̂y, R̂
end

"""
initpred_common!(mpc::PredictiveController, model::SimModel, d, D̂, R̂y, R̂u) -> F
initpred_common!(mpc::PredictiveController, model::SimModel, d, D̂, R̂y, R̂u) -> mpc.F

Common computations of `initpred!` for all types of [`SimModel`](@ref).

Expand All @@ -251,23 +248,22 @@ function initpred_common!(mpc::PredictiveController, model::SimModel, d, D̂, R
end
mpc.R̂y .= R̂y
mpc.R̂u .= R̂u
F = predictstoch!(mpc, mpc.estim) # init mpc.F with Ŷs for InternalModel
return F
predictstoch!(mpc.F, mpc, mpc.estim)
return mpc.F
end

@doc raw"""
predictstoch!(mpc::PredictiveController, estim::InternalModel) -> F
predictstoch!(Ŷs, mpc::PredictiveController, estim::InternalModel) -> nothing

Init `mpc.F` vector with ``\mathbf{F = Ŷ_s}`` when `estim` is an [`InternalModel`](@ref).
Fill `Ŷs` in-place with stochastic predictions if `estim` is an [`InternalModel`](@ref).
"""
function predictstoch!(mpc::PredictiveController, estim::InternalModel)
Ŷs = mpc.F
function predictstoch!(Ŷs, mpc::PredictiveController, estim::InternalModel)
mul!(Ŷs, mpc.Ks, estim.x̂s)
mul!(Ŷs, mpc.Ps, estim.ŷs, 1, 1)
return mpc.F
return nothing
end
"Separate stochastic predictions are not needed if `estim` is not [`InternalModel`](@ref)."
predictstoch!(mpc::PredictiveController, ::StateEstimator) = (mpc.F .= 0)
"Fill `Ŷs` vector with 0 values when `estim` is not an [`InternalModel`](@ref)."
predictstoch!(Ŷs, mpc::PredictiveController, ::StateEstimator) = (Ŷs .= 0; nothing)

@doc raw"""
linconstraint!(mpc::PredictiveController, model::LinModel)
Expand Down