v1.12.0

ModelPredictiveControl v1.12.0

Diff since v1.11.1

• added: oracle=true option in NonLinMPC to significantly improve performances under nonlinear constraints 🚀 (default with Ipopt.jl)
• added: oracle=true option in MovingHorizonEstimator to significantly improve performances under nonlinear constraints 🚀 (default with Ipopt.jl)

Merged pull requests:

• Experimentation: testing Ipopt._VectorNonlinearOracle (#229) (@franckgaga)
• doc: minor precision in strictly proper system assumption (#263) (@franckgaga)
• debug: do not warn cond(H̃) in NonLinMPC if Ewt≠0 (#264) (@franckgaga)
• changed: differentiating only non-Inf constraints in NonLinMPC (#267) (@franckgaga)
• added: use Ipopt._VectorNonlinearOracle in MovingHorizonEstimator (#268) (@franckgaga)
• added: migration to MOI.VectorNonlinearOracle (#269) (@franckgaga)
• added: oracle option in NonLinMPC and MovingHorizonEstimator (#270) (@franckgaga)

v1.11.1

ModelPredictiveControl v1.11.1

Diff since v1.11.0

• added: progress keyword argument in sim! to disable progress logs
• added: ill-conditioned QP warning at controller construction
• removed: less useful workload in precompile.jl to accelerate precompilation

Merged pull requests:

• added: progress keyword argument in sim! to disable progress logs (#260) (@franckgaga)
• added: ill-conditioned QP warning at controller construction (#261) (@franckgaga)
• removed: less useful workload in precompile.jl (#262) (@franckgaga)

Closed issues:

• Multi-threaded MultipleShooting and TrapezoidalCollocation (#257)

v1.11.0

ModelPredictiveControl v1.11.0

Diff since v1.10.0

• added: multithreading with MultipleShooting and TrapezoidalCollocation
• test: multithreading with MultipleShooting and TrapezoidalCollocation
• bench: case studies with multithreading on the pendulum

Merged pull requests:

• doc: update pendulum exemple to MTK v10 in the manual (#251) (@franckgaga)
• doc: details on proper systems in LinModel extended help (#252) (@franckgaga)
• bench: only run bench if benchmark appears in label (#254) (@franckgaga)
• added: multithreading with MultipleShooting and TrapezoidalCollocation (#258) (@franckgaga)
• Update transcription.jl (#259) (@franckgaga)

v1.10.0

ModelPredictiveControl v1.10.0

Diff since v1.9.3

• added: covestim in MovingHorizonEstimator now supports SteadyKalmanFilter for a constant arrival covariance $\mathbf{\bar{P}}$

Merged pull requests:

• doc: add arXiv badge (#247) (@franckgaga)
• added: covestim in MovingHorizonEstimator now supports SteadyKalmanFilter (#248) (@franckgaga)
• Bump version (#249) (@franckgaga)

v1.9.3

ModelPredictiveControl v1.9.3

Diff since v1.9.2

• debug: setmodel! now works with LinMPC based on MultipleShooting
• test: new test for setmodel! with MultipleShooting
• doc: using MultipleShooting in the manual on the unstable pendulum system

Merged pull requests:

• doc: using MultipleShooting in the manual for the unstable pendulum system (#245) (@franckgaga)
• debug: setmodel! now works with LinMPC based on MultipleShooting (#246) (@franckgaga)

v1.9.2

ModelPredictiveControl v1.9.2

Diff since v1.9.1

• added: clearer pretty-print of objects with a tree structure
• added: print differentiation backends in NonLinModel, ExtendedKalmanFilter, MovingHorizonEstimator and NonLinMPC
• changed: using $\varepsilon$ instead of $\epsilon$ for MovingHorizonEstimator slack variable (to clearly differentiate from MPC slack)

Merged pull requests:

• added: clearer pretty-print with trees + print differentiation backends (#244) (@franckgaga)

v1.9.1

ModelPredictiveControl v1.9.1

Diff since v1.9.0

• added: piecewise linear manipulated inputs $\mathbf{u}$ with TrapezoidalCollocation(1)
• changed: f̂ now internally handle the operating points
• debug: linearize! on NonLinModel with non-zero operating points now works
• doc: describing the internal of the various prediction and transcription methods

Merged pull requests:

• debug: linearize! on NonLinModel with non-zero operating points now works (#239) (@franckgaga)
• doc: describing the internal of the various prediction and transcription methods (#240) (@franckgaga)
• changed: f̂ now internally handle the operating points (#241) (@franckgaga)
• doc: changing the notation of transcription internals (#242) (@franckgaga)
• added: piecewise linear manipulated inputs with TrapezoidalCollocation(1) (#243) (@franckgaga)

v1.9.0

ModelPredictiveControl v1.9.0

Diff since v1.8.2

• added: TrapezoidalCollocation method for continuous-time nonlinear systems
• added: dependabot.yml file to help with the CI dependencies
• changed: new fields with the continuous state-space function model.f! and model.h! in NonLinModels (instead of model.solver_f! and model.solver_h!)
• test: new test with TrapezoidalCollocation and Ipopt
• bench: new case studies with TrapezoidalCollocation on the pendulum

Merged pull requests:

• bench: increasing samples to reduce SD when needed (#228) (@franckgaga)
• added: dependabot.yml file to help with CI dependencies (#230) (@franckgaga)
• build(deps): bump julia-actions/setup-julia from 1 to 2 (#231) (@dependabot[bot])
• build(deps): bump actions/checkout from 2 to 5 (#232) (@dependabot[bot])
• changed: keep f! and h! functions available (#233) (@franckgaga)
• added: simple TrapezoidalCollocation() transcription method (#234) (@franckgaga)
• doc: clarifying model augmentation for NonLinMPC in f̂! docstring (#235) (@franckgaga)
• added: show TranscriptionMethod when printing PredictiveController (#236) (@franckgaga)
• added: unit tests and benchmarks for TrapezoidalCollocation (#237) (@franckgaga)

Closed issues:

• Trapezoidal collocation transcription (#164)

v1.8.2

ModelPredictiveControl v1.8.2

Diff since v1.8.1

• added: new benchmark suite that runs automatically on each PR with AirspeedVelocity.jl

Merged pull requests:

• test: increase Ts of NonLinMPC test to avoid out-of-time status (#217) (@franckgaga)
• added: benchmarking workflow with github actions (#218) (@franckgaga)
• bench: added allocation benchmarks on CI (#219) (@franckgaga)
• doc: minor correction (#220) (@franckgaga)
• bench: trying AirspeedVelocity.jl (#221) (@franckgaga)
• bench: adding some PredictiveController benchmarks (#222) (@franckgaga)
• CompatHelper: bump compat for SparseConnectivityTracer to 1, (keep existing compat) (#223) (@github-actions[bot])
• bench: add OSQP and Random as dependencies (#224) (@franckgaga)
• bench: minor modification (#225) (@franckgaga)
• debug: MovingHorizonEstimator no longer crash with error termination flag (#226) (@franckgaga)
• bump (#227) (@franckgaga)

v1.8.1

ModelPredictiveControl v1.8.1

Diff since v1.8.0

• added: new KalmanCovariance parametric struct to handle covariance sparsity efficiently
• added: dispatch on repeatdiag to preserve Diagonnals
• added: in-place and allocation-free inv! for MHE covariance matrices
• changed: store P̃Δu, P̃u and Tu conversion matrices as SparseMatrixCSC
• debug: support Hermitian weights in PredictiveController
• debug: use dummy b vector in MHE setmodel! to avoid ±Inf values
• test: verify setmodel! with He>1 for MHE
• test: new integration with ManualEstimator and MPCs
• doc: various improvements

Merged pull requests:

• new ManualEstimator tests and minor doc corrections (#210) (@franckgaga)
• doc : minor clarifications (#211) (@franckgaga)
• Changed: store conversion matrices as SparseMatrixCSC (#212) (@franckgaga)
• added: inv! for MovingHorizonEstimator covariance matrices (#214) (@franckgaga)
• debug: support Hermitian weights in PredictiveController (#215) (@franckgaga)
• added: new KalmanCovariance struct to handle covariance sparsity efficiently (#216) (@franckgaga)