test: LinMPC and custom constraint violation

Author: franckgaga

test/3_test_predictive_control.jl

@@ -358,13 +358,25 @@ end
     @test_throws DimensionMismatch setconstraint!(mpc, Δumax=[0,0,0])
     @test_throws DimensionMismatch setconstraint!(mpc, ymin=[0,0,0])
     @test_throws DimensionMismatch setconstraint!(mpc, ymax=[0,0,0])
+    @test_throws DimensionMismatch setconstraint!(mpc, wmin=[0,0,0])
+    @test_throws DimensionMismatch setconstraint!(mpc, wmax=[0,0,0])
     @test_throws DimensionMismatch setconstraint!(mpc, c_umin=[0,0,0])
     @test_throws DimensionMismatch setconstraint!(mpc, c_umax=[0,0,0])
     @test_throws DimensionMismatch setconstraint!(mpc, c_Δumin=[0,0,0])
     @test_throws DimensionMismatch setconstraint!(mpc, c_Δumax=[0,0,0])
     @test_throws DimensionMismatch setconstraint!(mpc, c_ymin=[0,0,0])
     @test_throws DimensionMismatch setconstraint!(mpc, c_ymax=[0,0,0])
-
+    @test_throws DimensionMismatch setconstraint!(mpc, c_wmin=[0,0,0])
+    @test_throws DimensionMismatch setconstraint!(mpc, c_wmax=[0,0,0])
+    @test_throws ErrorException setconstraint!(mpc, c_umin=[-1,-1])
+    @test_throws ErrorException setconstraint!(mpc, c_umax=[-1,-1])
+    @test_throws ErrorException setconstraint!(mpc, c_Δumin=[-1,-1])
+    @test_throws ErrorException setconstraint!(mpc, c_Δumax=[-1,-1])
+    @test_throws ErrorException setconstraint!(mpc, c_ymin=[-1,-1])
+    @test_throws ErrorException setconstraint!(mpc, c_ymax=[-1,-1])
+    @test_throws ErrorException setconstraint!(mpc, c_wmin=[-1,-1])
+    @test_throws ErrorException setconstraint!(mpc, c_wmax=[-1,-1])
+    
     preparestate!(mpc, mpc.estim.model.yop, mpc.estim.model.dop)
     moveinput!(mpc, [0, 0], [0])
     @test_throws ErrorException setconstraint!(mpc, c_umin=[1, 1], c_umax=[1, 1])
@@ -436,6 +448,29 @@ end
     info = getinfo(mpc)
     @test info[:x̂end][1] ≈ 0 atol=1e-1
     setconstraint!(mpc, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
+
+    model2 = LinModel([tf([2], [10, 1]) tf(0.1, [7, 1])], 3.0, i_d=[2])
+    model2 = setop!(model2, uop=[25], dop=[30], yop=[50])
+    mpc_wy = LinMPC(model2, Nwt=[0], Cwt=Inf, Hp=50, Hc=50, Wy=[1])
+    mpc_wy = setconstraint!(mpc_wy, wmax=[75])
+    preparestate!(mpc_wy, [50], [30])
+    u = moveinput!(mpc_wy, [100], [30])
+    @test all(isapprox.(getinfo(mpc_wy)[:Ŷ], 75.0; atol=1e-1))
+    mpc_wu = LinMPC(model2, Nwt=[0], Cwt=Inf, Hp=50, Hc=50, Wu=[1])
+    mpc_wu = setconstraint!(mpc_wu, wmax=[20])
+    preparestate!(mpc_wu, [50], [30])
+    u = moveinput!(mpc_wu, [100], [30])
+    @test all(isapprox.(getinfo(mpc_wu)[:U], 20.0; atol=1e-1))
+    mpc_wd = LinMPC(model2, Nwt=[0], Cwt=Inf, Hp=50, Hc=50, Wd=[1], Wy=[1])
+    mpc_wd = setconstraint!(mpc_wd, wmax=[95])
+    preparestate!(mpc_wd, [50], [30])
+    u = moveinput!(mpc_wd, [100], [30])
+    @test all(isapprox.(getinfo(mpc_wd)[:Ŷ], 95-30; atol=1e-1))
+    mpc_wr = LinMPC(model2, Nwt=[0], Cwt=Inf, Hp=50, Hc=50, Wr=[1], Wy=[1])
+    mpc_wr = setconstraint!(mpc_wr, wmax=[175])
+    preparestate!(mpc_wr, [50], [30])
+    u = moveinput!(mpc_wr, [100], [30])
+    @test all(isapprox.(getinfo(mpc_wr)[:Ŷ], 175-100; atol=1e-1))
 end
 
 @testitem "LinMPC terminal cost" setup=[SetupMPCtests] begin