test: comparison with LinMPC and LinearMPC.MPC

Author: franckgaga

Project.toml

@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "1.14.4"
+version = "1.15.0"
 authors = ["Francis Gagnon"]
 
 [deps]

test/5_test_extensions.jl

@@ -0,0 +1,50 @@
+@testitem "LinearMPCext extension" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, DAQP
+    import LinearMPC
+    model = LinModel(sys, Ts, i_u=1:2)
+    model = setop!(model, uop=[20, 20], yop=[50, 30])
+    optim = JuMP.Model(DAQP.Optimizer)
+    mpc1 = LinMPC(model, Hp=15, Hc=[2, 3, 10], optim=optim)
+    mpc1 = setconstraint!(mpc1, ymin=[48, -Inf], umax=[Inf, 30])
+    mpc2 = LinearMPC.MPC(mpc1)
+    function sim_both(model, mpc1, mpc2, N)
+        r = [55.0; 30.0]
+        u1 = [20.0, 20.0]
+        u2 = [20.0, 20.0]
+        model.x0 .= 0
+        y_data = zeros(model.ny, N)
+        u_data1, u_data2 = zeros(model.nu, N), zeros(model.nu, N)
+        for k in 0:N-1
+            k == 10 && (r .= [45; 30.0])
+            k == 25 && (r .= [50; 45.0])
+            y = model()
+            y_data[:, k+1] = y
+            preparestate!(mpc1, y)
+            x̂ = LinearMPC.correct_state!(mpc2, y)
+            u1 = moveinput!(mpc1, r)
+            u2 = LinearMPC.compute_control(mpc2, x̂, r=r, uprev=u2)
+            u_data1[:, k+1], u_data2[:, k+1] = u1, u2
+            updatestate!(model, u1)
+            updatestate!(mpc1, u1, y)
+            LinearMPC.predict_state!(mpc2, u2)
+        end
+        return y_data, u_data1, u_data2
+    end
+    N = 50
+    y_data, u_data1, u_data2 = sim_both(model, mpc1, mpc2, N)
+    @test u_data1 ≈ u_data2 atol=1e-6
+
+    mpc_ms = LinMPC(model; transcription=MultipleShooting(), optim)
+    @test_throws ErrorException LinearMPC.MPC(mpc_ms)
+    mpc_kf = LinMPC(KalmanFilter(model, direct=false); optim)
+    @test_throws ErrorException LinearMPC.MPC(mpc_kf)
+    mpc_osqp = LinMPC(model)
+    "LinearMPC relies on DAQP, and the solver in the mpc object " *
+              "is currently $(JuMP.solver_name(mpc.optim)).\n" *
+              "The results in closed-loop may be different."
+    @test_logs(
+        (:warn, "LinearMPC relies on DAQP, and the solver in the mpc object is currently "*
+        "OSQP.\nThe results in closed-loop may be different."),
+        LinearMPC.MPC(mpc_osqp)
+    )
+end

test/5_test_doctest.jl test/6_test_doctest.jltest/5_test_doctest.jl renamed to test/6_test_doctest.jl

@@ -4,10 +4,11 @@ using Test, TestItems, TestItemRunner
 @run_package_tests(verbose=true)
 
 include("0_test_module.jl")
-include("1_test_sim_model.jl")
-include("2_test_state_estim.jl")
-include("3_test_predictive_control.jl")
-include("4_test_plot_sim.jl")
-include("5_test_doctest.jl")
+#include("1_test_sim_model.jl")
+#include("2_test_state_estim.jl")
+#include("3_test_predictive_control.jl")
+#include("4_test_plot_sim.jl")
+include("5_test_extensions.jl")
+include("6_test_doctest.jl")
 
 nothing