changed: removed A_Ŝ matrix

franckgaga · franckgaga · commit 075f955c753e · 2026-03-09T17:36:09.000-04:00
It is never used, since the same as `Aeq` matrix, and it cause confusion with the linear defect constraint of `CollocationMethod`s
diff --git a/src/controller/construct.jl b/src/controller/construct.jl
@@ -176,7 +176,6 @@ struct ControllerConstraint{NT<:Real, GCfunc<:Union{Nothing, Function}}
     # indices of finite numbers in the b vector (linear inequality constraints):
     i_b     ::BitVector
     # A matrices for the linear equality constraints:
-    A_Ŝ     ::Matrix{NT}
     Aeq     ::Matrix{NT}
     # b vector for the linear equality constraints:
     beq     ::Vector{NT}
@@ -518,7 +517,7 @@ function setconstraint!(
             con.A_Umin, con.A_Umax, con.A_ΔŨmin, con.A_ΔŨmax, 
             con.A_Ymin, con.A_Ymax, con.A_Wmin, con.A_Wmax,
             con.A_x̂min, con.A_x̂max,
-            con.A_Ŝ
+            con.Aeq
         )
         A = con.A[con.i_b, :]
         b = con.b[con.i_b]
@@ -910,7 +909,7 @@ function init_defaultcon_mpc(
     A_Ymin,  A_Ymax, Ẽ  = relaxŶ(E, C_ymin, C_ymax, nϵ)
     A_Wmin,  A_Wmax, Ẽw = relaxW(E, Pu, Hp, W̄y, W̄u, C_wmin, C_wmax, nϵ)
     A_x̂min,  A_x̂max, ẽx̂ = relaxterminal(ex̂, c_x̂min, c_x̂max, nϵ)
-    A_Ŝ, Ẽŝ = augmentdefect(Eŝ, nϵ)
+    Aeq, Ẽŝ = augmentdefect(Eŝ, nϵ)
     i_Umin,  i_Umax  = .!isinf.(U0min), .!isinf.(U0max)
     i_ΔŨmin, i_ΔŨmax = .!isinf.(ΔŨmin), .!isinf.(ΔŨmax)
     i_Ymin,  i_Ymax  = .!isinf.(Y0min), .!isinf.(Y0max)
@@ -920,7 +919,7 @@ function init_defaultcon_mpc(
         model, transcription, nc,
         i_Umin, i_Umax, i_ΔŨmin, i_ΔŨmax, i_Ymin, i_Ymax, i_Wmin, i_Wmax, i_x̂min, i_x̂max,
         A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, A_Ymin, A_Ymax, A_Wmin, A_Wmax, A_x̂max, A_x̂min,
-        A_Ŝ
+        Aeq
     )
     # dummy fx̂, Fw and Fŝ vectors (updated just before optimization)
     fx̂, Fw, Fŝ = zeros(NT, nx̂), zeros(NT, nW), zeros(NT, nx̂*Hp)
@@ -935,7 +934,6 @@ function init_defaultcon_mpc(
         A_Umin  , A_Umax , A_ΔŨmin , A_ΔŨmax  , 
         A_Ymin  , A_Ymax , A_Wmin  , A_Wmax   , A_x̂min , A_x̂max , 
         A       , b      , i_b     , 
-        A_Ŝ     ,
         Aeq     , beq    ,
         neq     ,
         C_ymin  , C_ymax , C_wmin  , C_wmax   , c_x̂min , c_x̂max , 
@@ -1194,14 +1192,14 @@ function relaxterminal(ex̂::AbstractMatrix{NT}, c_x̂min, c_x̂max, nϵ) where
 end
 
 @doc raw"""
-    augmentdefect(Eŝ, nϵ) -> A_Ŝ, Ẽŝ
+    augmentdefect(Eŝ, nϵ) -> Aeq, Ẽŝ
 
 Augment defect equality constraints with slack variable ϵ if `nϵ == 1`.
 
-It returns the ``\mathbf{Ẽ_ŝ}`` matrix that appears in the defect equation 
-``\mathbf{Ŝ = Ẽ_ŝ Z̃ + F_ŝ}`` and the ``\mathbf{A}`` matrix for the equality constraints:
+It returns the ``\mathbf{Ẽ_ŝ}`` matrix that appears in the linear defect equation 
+``\mathbf{Ẽ_ŝ Z̃ + F_ŝ}`` and the ``\mathbf{A}`` matrix for the equality constraints:
 ```math
-\mathbf{A_Ŝ Z̃} = - \mathbf{F_ŝ}
+\mathbf{A_{eq} Z̃} = \mathbf{b_{eq}} = - \mathbf{F_ŝ}
 ```
 """
 function augmentdefect(Eŝ::AbstractMatrix{NT}, nϵ) where NT<:Real
@@ -1210,8 +1208,8 @@ function augmentdefect(Eŝ::AbstractMatrix{NT}, nϵ) where NT<:Real
     else # Z̃ = Z (only hard constraints)
         Ẽŝ = Eŝ
     end
-    A_Ŝ = Ẽŝ
-    return A_Ŝ, Ẽŝ
+    Aeq = Ẽŝ
+    return Aeq, Ẽŝ
 end
 
 @doc raw"""
diff --git a/src/controller/execute.jl b/src/controller/execute.jl
@@ -720,7 +720,7 @@ function setmodel_controller!(mpc::PredictiveController, uop_old, x̂op_old)
     con.bx̂ .= bx̂
     # --- defect matrices ---
     Eŝ, Gŝ, Jŝ, Kŝ, Vŝ, Bŝ = init_defectmat(model, estim, transcription, Hp, Hc, nb)
-    A_Ŝ, Ẽŝ = augmentdefect(Eŝ, mpc.nϵ)
+    Aeq, Ẽŝ = augmentdefect(Eŝ, mpc.nϵ)
     con.Ẽŝ .= Ẽŝ
     con.Gŝ .= Gŝ
     con.Jŝ .= Jŝ
@@ -747,8 +747,7 @@ function setmodel_controller!(mpc::PredictiveController, uop_old, x̂op_old)
         con.A_x̂max
     ]
     # --- linear equality constraints ---
-    con.A_Ŝ .= A_Ŝ
-    con.Aeq .= A_Ŝ
+    con.Aeq .= Aeq
     # --- operating points ---
     con.U0min .+= mpc.Uop # convert U0 to U with the old operating point
     con.U0max .+= mpc.Uop # convert U0 to U with the old operating point
diff --git a/src/controller/transcription.jl b/src/controller/transcription.jl
@@ -786,7 +786,7 @@ The argument `nc` is the number of custom nonlinear inequality constraints in
 finite numbers. `i_g` is a similar vector but for the indices of ``\mathbf{g}``. The method
 also returns the ``\mathbf{A, A_{eq}}`` matrices and `neq` if `args` is provided. In such a 
 case, `args`  needs to contain all the inequality and equality constraint matrices: 
-`A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, A_Ymin, A_Ymax, A_Wmin, A_Wmax, A_x̂min, A_x̂max, A_Ŝ`. 
+`A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, A_Ymin, A_Ymax, A_Wmin, A_Wmax, A_x̂min, A_x̂max, Aeq`. 
 The integer `neq` is the number of nonlinear equality constraints in ``\mathbf{g_{eq}}``.
 """
 function init_matconstraint_mpc(
@@ -803,7 +803,7 @@ function init_matconstraint_mpc(
             A_Ymin,  A_Ymax, 
             A_Wmin,  A_Wmax,
             A_x̂min,  A_x̂max,  
-            A_Ŝ
+            Aeq
         ) = args
         A = [
             A_Umin;  A_Umax; 
@@ -812,7 +812,6 @@ function init_matconstraint_mpc(
             A_Wmin;  A_Wmax
             A_x̂min;  A_x̂max;
         ]
-        Aeq = A_Ŝ
         neq = 0
     end
     i_b = [i_Umin; i_Umax; i_ΔŨmin; i_ΔŨmax; i_Ymin; i_Ymax; i_Wmin; i_Wmax; i_x̂min; i_x̂max]
@@ -829,9 +828,8 @@ function init_matconstraint_mpc(
     if isempty(args)
         A, Aeq, neq = nothing, nothing, nothing
     else
-        A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, _ , _ , A_Wmin, A_Wmax, _ , _ , A_Ŝ = args
+        A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, _ , _ , A_Wmin, A_Wmax, _ , _ , Aeq = args
         A   = [A_Umin; A_Umax; A_ΔŨmin; A_ΔŨmax; A_Wmin; A_Wmax]
-        Aeq = A_Ŝ
         neq = 0
     end
     i_b = [i_Umin; i_Umax; i_ΔŨmin; i_ΔŨmax; i_Wmin; i_Wmax]
@@ -848,9 +846,8 @@ function init_matconstraint_mpc(
     if isempty(args)
         A, Aeq, neq = nothing, nothing, nothing
     else    
-        A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, _ , _ , A_Wmin, A_Wmax, A_x̂min, A_x̂max, A_Ŝ = args
+        A_Umin, A_Umax, A_ΔŨmin, A_ΔŨmax, _ , _ , A_Wmin, A_Wmax, A_x̂min, A_x̂max, Aeq = args
         A   = [A_Umin; A_Umax; A_ΔŨmin; A_ΔŨmax; A_Wmin; A_Wmax; A_x̂min; A_x̂max]
-        Aeq = A_Ŝ
         nΔŨ, nZ̃ = size(A_ΔŨmin)
         neq = nZ̃ - nΔŨ
     end
