test: adding ExplicitMPC to move blocking comparison

Author: franckgaga

test/3_test_predictive_control.jl

@@ -1473,7 +1473,7 @@ end
     @test U_nonlinmpc1 ≈ U_nonlinmpc2 rtol=1e-3 atol=1e-3
 end
 
-@testitem "LinMPC v.s. NonLinMPC with move blocking" setup=[SetupMPCtests] begin
+@testitem "All MPCs with move blocking" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     G = tf( 10, [400,  1])
     linmodel = LinModel(G, 100.0)
@@ -1482,30 +1482,37 @@ end
     nonlinmodel = NonLinModel(f, h, 100.0, 1, 1, 1, p=linmodel, solver=nothing)
     Mwt, Nwt, Hp, Hc = [1], [0], 30, [2, 3, 4, 21]
     N = 25
+    mpc0 = ExplicitMPC(linmodel; Mwt, Nwt, Hp, Hc)
     mpc1 = LinMPC(linmodel; Mwt, Nwt, Hp, Hc, transcription=SingleShooting())
     mpc2 = LinMPC(linmodel; Mwt, Nwt, Hp, Hc, transcription=MultipleShooting())
     mpc3 = NonLinMPC(linmodel; Mwt, Nwt, Hp, Hc, transcription=SingleShooting())
     mpc4 = NonLinMPC(linmodel; Mwt, Nwt, Hp, Hc, transcription=MultipleShooting())
     mpc5 = NonLinMPC(nonlinmodel; Mwt, Nwt, Hp, Hc, transcription=SingleShooting())
     mpc6 = NonLinMPC(nonlinmodel; Mwt, Nwt, Hp, Hc, transcription=MultipleShooting())
+    U0 = zeros(1, N)
     U1, U2, U3 = zeros(1, N), zeros(1, N), zeros(1, N)
     U4, U5, U6 = zeros(1, N), zeros(1, N), zeros(1, N)
     for i=1:N
         r = [5.0]
         y = linmodel()
+        preparestate!(mpc0, y);
         preparestate!(mpc1, y); preparestate!(mpc2, y); preparestate!(mpc3, y);
         preparestate!(mpc4, y); preparestate!(mpc5, y); preparestate!(mpc6, y);
+        u0 = moveinput!(mpc0, r);
         u1 = moveinput!(mpc1, r); u2 = moveinput!(mpc2, r); u3 = moveinput!(mpc3, r);
         u4 = moveinput!(mpc4, r); u5 = moveinput!(mpc5, r); u6 = moveinput!(mpc6, r);
+        U0[:, i] = u0;
         U1[:, i] = u1; U2[:, i] = u2; U3[:, i] = u3;
         U4[:, i] = u4; U5[:, i] = u5; U6[:, i] = u6;
+        updatestate!(mpc0, u0, y);
         updatestate!(mpc1, u1, y); updatestate!(mpc2, u2, y); updatestate!(mpc3, u3, y);
         updatestate!(mpc4, u4, y); updatestate!(mpc5, u5, y); updatestate!(mpc6, u6, y);
         updatestate!(linmodel, u1);
     end
-    @test U1 ≈ U2 rtol=1e-3 atol=1e-3
-    @test U1 ≈ U3 rtol=1e-3 atol=1e-3
-    @test U1 ≈ U4 rtol=1e-3 atol=1e-3
-    @test U1 ≈ U5 rtol=1e-3 atol=1e-3
-    @test U1 ≈ U6 rtol=1e-3 atol=1e-3
+    @test U0 ≈ U1 rtol=1e-3 atol=1e-3
+    @test U0 ≈ U2 rtol=1e-3 atol=1e-3
+    @test U0 ≈ U3 rtol=1e-3 atol=1e-3
+    @test U0 ≈ U4 rtol=1e-3 atol=1e-3
+    @test U0 ≈ U5 rtol=1e-3 atol=1e-3
+    @test U0 ≈ U6 rtol=1e-3 atol=1e-3
 end