control-toolbox · ocots · Oct 23, 2025 · Oct 22, 2025 · Oct 22, 2025 · Oct 23, 2025
diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
@@ -13,6 +13,7 @@ jobs:
         version:
           - '1.10'
           - '1.11'
+          - '1.12'
         os:
           - ubuntu-latest
           - windows-latest

diff --git a/.markdownlint.json b/.markdownlint.json
@@ -1,4 +1,5 @@
 {
     "MD046": false,
-    "MD013": false
+    "MD013": false,
+    "MD033": false
 }
diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "OptimalControl"
 uuid = "5f98b655-cc9a-415a-b60e-744165666948"
 authors = ["Olivier Cots <[email protected]>"]
-version = "1.1.4"
+version = "1.1.5"
 
 [deps]
 ADNLPModels = "54578032-b7ea-4c30-94aa-7cbd1cce6c9a"

diff --git a/docs/make.jl b/docs/make.jl
@@ -150,7 +150,7 @@ makedocs(;
         ],
         "Manual" => [
             "Define a problem" => "manual-abstract.md",
-            "Use AI" => "manual-ai-ded.md",
+            "Use AI" => "manual-ai-llm.md",
             "Problem characteristics" => "manual-model.md",
             "Set an initial guess" => "manual-initial-guess.md",
             "Solve a problem" => "manual-solve.md",

diff --git a/docs/src/assets/Manifest.toml b/docs/src/assets/Manifest.toml
@@ -2831,7 +2831,7 @@ uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
 version = "1.59.0+0"
 
 [[deps.oneTBB_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl"]
+deps = ["Artifacts", "JLLWrappers", "LazyArtifacts", "Libdl"]
 git-tree-sha1 = "d5a767a3bb77135a99e433afe0eb14cd7f6914c3"
 uuid = "1317d2d5-d96f-522e-a858-c73665f53c3e"
 version = "2022.0.0+0"

diff --git a/docs/src/example-double-integrator-time.md b/docs/src/example-double-integrator-time.md
@@ -12,7 +12,7 @@ and the limit conditions
     x(0) = (1,2), \quad x(t_f) = (0,0).
 ```
 
-This problem can be interpretated as a simple model for a wagon with constant mass moving along a line without fricton.
+This problem can be interpreted as a simple model for a wagon with constant mass moving along a line without friction.
 
 ```@raw html
 <img src="./assets/chariot.svg" style="display: block; margin: 0 auto 20px auto;" width="400px">

diff --git a/docs/src/index.md b/docs/src/index.md
@@ -75,64 +75,59 @@ If you want to ask a question, feel free to start a discussion [here](https://gi
 
 ## Reproducibility
 
+```@setup main
+using Pkg
+using InteractiveUtils
+using Markdown
+
+# Download links for the benchmark environment
+function _downloads_toml(DIR)
+    link_manifest = joinpath("assets", DIR, "Manifest.toml")
+    link_project = joinpath("assets", DIR, "Project.toml")
+    return Markdown.parse("""
+    You can download the exact environment used to build this documentation:
+    - 📦 [Project.toml]($link_project) - Package dependencies
+    - 📋 [Manifest.toml]($link_manifest) - Complete dependency tree with versions
+    """)
+end
+```
+
+```@example main
+_downloads_toml(".") # hide
+```
+
 ```@raw html
-<details><summary>The documentation of this package was built using these direct dependencies,</summary>
+<details style="margin-bottom: 0.5em; margin-top: 1em;"><summary>ℹ️ Version info</summary>
 ```
 
-```@example
-using Pkg # hide
-Pkg.status() # hide
+```@example main
+versioninfo() # hide
 ```
 
 ```@raw html
 </details>
 ```
 
 ```@raw html
-<details><summary>and using this machine and Julia version.</summary>
+<details style="margin-bottom: 0.5em;"><summary>📦 Package status</summary>
 ```
 
-```@example
-using InteractiveUtils # hide
-versioninfo() # hide
+```@example main
+Pkg.status() # hide
 ```
 
 ```@raw html
 </details>
 ```
 
 ```@raw html
-<details><summary>A more complete overview of all dependencies and their versions is also provided.</summary>
+<details style="margin-bottom: 0.5em;"><summary>📚 Complete manifest</summary>
 ```
 
-```@example
-using Pkg # hide
+```@example main
 Pkg.status(; mode = PKGMODE_MANIFEST) # hide
 ```
 
 ```@raw html
 </details>
 ```
-
-```@eval
-using TOML
-using Markdown
-version = TOML.parse(read("../../Project.toml", String))["version"]
-name = TOML.parse(read("../../Project.toml", String))["name"]
-link_manifest = "https://github.com/control-toolbox/" *
-                name *
-                ".jl/tree/gh-pages/v" *
-                version *
-                "/assets/Manifest.toml"
-link_project = "https://github.com/control-toolbox/" *
-               name *
-               ".jl/tree/gh-pages/v" *
-               version *
-               "/assets/Project.toml"
-Markdown.parse("""You can also download the
-[manifest]($link_manifest)
-file and the
-[project]($link_project)
-file.
-""")
-```
diff --git a/docs/src/juliacon-paris-2025.md b/docs/src/juliacon-paris-2025.md
@@ -361,7 +361,7 @@ Total wall-clock secs                                       =  0.083
 
 - New applications (space mechanics, biology, quantum mechanics and more) -> check David's talk
 - Collection of problems: [OptimalControlProblems.jl](https://control-toolbox.org/OptimalControlProblems.jl)
-- ... and open to contributions! Give it a [try](@ref manual-ai-ded), give it a star ⭐️
+- ... and open to contributions! Give it a [try](@ref manual-ai-llm), give it a star ⭐️
 
 ```@raw html
 <a href="https://github.com/control-toolbox/OptimalControl.jl"><img width="800" alt="OptimalControl.jl" src="./assets/star.jpg"></a>

diff --git a/docs/src/manual-abstract.md b/docs/src/manual-abstract.md
@@ -334,15 +334,15 @@ o = @def begin
     u ∈ R, control
     -1 ≤ v ≤ 1
     x₁(0) == -1
-    x₂(0) - v == 0 # OK: the boundary contraint may involve the variable
+    x₂(0) - v == 0 # OK: the boundary constraint may involve the variable
     x(1) == [0, 0]
     ẋ(t) == [x₂(t), u(t)]
     ∫( 0.5u(t)^2 ) → min
 end
 ```
 
 !!! warning
-    When solving with the option `:exa` to rely on the ExaModels modeller (check the [solve section](@ref manual-solve)), for instance to [solve on GPU](@ref manual-solve-gpu), it is **compulsory** that *nonlinear* constraints (not ranges) are *scalar*, whatever the type (boundary, variable, controle, state, mixed).
+    When solving with the option `:exa` to rely on the ExaModels modeller (check the [solve section](@ref manual-solve)), for instance to [solve on GPU](@ref manual-solve-gpu), it is **compulsory** that *nonlinear* constraints (not ranges) are *scalar*, whatever the type (boundary, variable, control, state, mixed).
 
 ## [Mayer cost](@id manual-abstract-mayer)
 

diff --git a/docs/src/manual-ai-ded.md b/docs/src/manual-ai-ded.md
diff --git a/docs/src/manual-ai-llm.md b/docs/src/manual-ai-llm.md
@@ -0,0 +1,116 @@
+# [Use AI](@id manual-ai-llm)
+
+Using now common models from AI, it is an elementary task to have such an agent learn the syntax of OptimalControl.jl DSL, then use the agent to translate standard math into this DSL. Here is a typical prompt, pointing to the [DSL syntax](@ref manual-abstract-syntax):
+
+```text
+Learn the syntax of OptimalControl.jl DSL described at the link below 
+to translate math into this DSL (Julia language): 
+https://control-toolbox.org/OptimalControl.jl/stable/manual-abstract.html.
+```
+
+```@raw html
+<div style="display:flex; align-items:center; gap:8px; margin:16px 0;">
+  <span style="font-weight:600; color:#666;">Try with:</span>
+  <!-- ChatGPT -->
+  <a href="https://chat.openai.com/?q=Learn+the+syntax+of+OptimalControl.jl+DSL+described+at+the+link+below+to+translate+math+into+this+DSL+(Julia+language):+https://control-toolbox.org/OptimalControl.jl/stable/manual-abstract.html" target="_blank" rel="nofollow noreferrer noopener" style="padding:4px 10px; background-color:#10A37F; color:#fff; border-radius:20px; font-size:13px; font-weight:600; text-decoration:none; transition:opacity 0.3s;">
+    ChatGPT
+  </a>
+
+  <!-- Claude -->
+  <a href="https://claude.ai/new?q=Learn+the+syntax+of+OptimalControl.jl+DSL+described+at+the+link+below+to+translate+math+into+this+DSL+(Julia+language):+https://control-toolbox.org/OptimalControl.jl/stable/manual-abstract.html" target="_blank" rel="nofollow noreferrer noopener" style="padding:4px 10px; background-color:#CC9B7A; color:#fff; border-radius:20px; font-size:13px; font-weight:600; text-decoration:none; transition:opacity 0.3s;">
+    Claude
+  </a>
+
+  <!-- Perplexity -->
+  <a href="https://www.perplexity.ai/search/new?q=Learn+the+syntax+of+OptimalControl.jl+DSL+described+at+the+link+below+to+translate+math+into+this+DSL+(Julia+language):+https://control-toolbox.org/OptimalControl.jl/stable/manual-abstract.html" target="_blank" rel="nofollow noreferrer noopener" style="padding:4px 10px; background-color:#9C4DE2; color:#fff; border-radius:20px; font-size:13px; font-weight:600; text-decoration:none; transition:opacity 0.3s;">
+    Perplexity
+  </a>
+
+  <!-- Mistral AI -->
+  <a href="https://chat.mistral.ai/chat?q=Learn+the+syntax+of+OptimalControl.jl+DSL+described+at+the+link+below+to+translate+math+into+this+DSL+(Julia+language):+https://control-toolbox.org/OptimalControl.jl/stable/manual-abstract.html" target="_blank" rel="nofollow noreferrer noopener" style="padding:4px 10px; background-color:#FF7000; color:#fff; border-radius:20px; font-size:13px; font-weight:600; text-decoration:none; transition:opacity 0.3s;">
+    Mistral
+  </a>
+</div>
+```
+
+Now, here is an extract of, *e.g.*, [claude.ai](https://claude.ai) answer (Sonnet 4 model) to the request below:
+
+```text
+Translate the problem below into this DSL:
+
+    minimise the final time tf 
+    under the constraint q''(t) = u(t) 
+    with -1 <= u(t) <= 1, 
+    q(0) = 1, q'(0) = -2, q(tf) = 3, q'(tf) = 1, and q'(t) <= 1.
+```
+
+```julia
+@def begin
+    tf ∈ R, variable
+    t ∈ [0, tf], time
+    x = (q, v) ∈ R², state
+    u ∈ R, control
+
+    # Variable constraint
+    tf ≥ 0
+
+    # Control constraint
+    -1 ≤ u(t) ≤ 1
+
+    # Initial conditions
+    q(0) == 1
+    v(0) == -2
+
+    # Final conditions  
+    q(tf) == 3
+    v(tf) == 1
+
+    # Path constraint
+    v(t) ≤ 1
+
+    # Dynamics (q'' = u becomes first-order system)
+    ẋ(t) == [v(t), u(t)]
+
+    # Objective: minimize final time
+    tf → min
+end
+```
+
+The answer is syntactically correct and can be updated, for instance according to the new request below:
+
+```text
+Use a form compatible with examodels.
+```
+
+```julia
+@def begin
+    tf ∈ R, variable
+    t ∈ [0, tf], time
+    x = (q, v) ∈ R², state
+    u ∈ R, control
+
+    # Variable constraint
+    tf ≥ 0
+
+    # Control constraint
+    -1 ≤ u(t) ≤ 1
+
+    # Initial conditions
+    q(0) == 1
+    v(0) == -2
+
+    # Final conditions  
+    q(tf) == 3
+    v(tf) == 1
+
+    # Path constraint
+    v(t) ≤ 1
+
+    # Dynamics (coordinate-wise for ExaModels)
+    ∂(q)(t) == v(t)
+    ∂(v)(t) == u(t)
+
+    # Objective: minimize final time
+    tf → min
+end
+```
-Original file line number
+Diff line change
@@ Expand Up / @@ -13,6 +13,7 @@ jobs: @@
             version:
               - '1.10'
               - '1.11'
+              - '1.12'
             os:
               - ubuntu-latest
               - windows-latest
@@ Expand Down @@