added: last manipulated input lastu in getinfo for MPC

Author: franckgaga

src/controller/execute.jl

@@ -100,10 +100,11 @@ The function should be called after calling [`moveinput!`](@ref). It returns the
 - `:R̂y` or *`:Rhaty`* : predicted output setpoint over ``H_p``, ``\mathbf{R̂_y}``
 - `:R̂u` or *`:Rhatu`* : predicted manipulated input setpoint over ``H_p``, ``\mathbf{R̂_u}``
 - `:x̂end` or *`:xhatend`* : optimal terminal states, ``\mathbf{x̂}_i(k+H_p)``
-- `:J`   : objective value optimum, ``J``
-- `:U`   : optimal manipulated inputs over ``H_p``, ``\mathbf{U}``
-- `:u`   : current optimal manipulated input, ``\mathbf{u}(k)``
-- `:d`   : current measured disturbance, ``\mathbf{d}(k)``
+- `:J`     : objective value optimum, ``J``
+- `:U`     : optimal manipulated inputs over ``H_p``, ``\mathbf{U}``
+- `:u`     : current optimal manipulated input, ``\mathbf{u}(k)``
+- `:d`     : current measured disturbance, ``\mathbf{d}(k)``
+- `:lastu` : last manipulated input, ``\mathbf{u}(k-1)``
 
 For [`LinMPC`](@ref) and [`NonLinMPC`](@ref), the following fields are also available:
 
@@ -161,20 +162,21 @@ function getinfo(mpc::PredictiveController{NT}) where NT<:Real
     J = obj_nonlinprog!(Ŷ0, U0, mpc, Ue, Ŷe, ΔŨ)
     Ŷs = similar(mpc.Yop)
     predictstoch!(Ŷs, mpc, mpc.estim)
-    info[:ΔU]   = Z̃[1:mpc.Hc*model.nu]
-    info[:ϵ]    = getϵ(mpc, Z̃)
-    info[:J]    = J
-    info[:U]    = U
-    info[:u]    = info[:U][1:model.nu]
-    info[:d]    = mpc.d0 + model.dop
-    info[:D̂]    = D̂
-    info[:x̂]    = mpc.estim.x̂0 .+ mpc.estim.x̂op
-    info[:ŷ]    = mpc.ŷ
-    info[:Ŷ]    = Ŷ
-    info[:x̂end] = x̂0end + mpc.estim.x̂op
-    info[:Ŷs]   = Ŷs
-    info[:R̂y]   = mpc.R̂y
-    info[:R̂u]   = mpc.R̂u
+    info[:ΔU]    = Z̃[1:mpc.Hc*model.nu]
+    info[:ϵ]     = getϵ(mpc, Z̃)
+    info[:J]     = J
+    info[:U]     = U
+    info[:u]     = info[:U][1:model.nu]
+    info[:lastu] = mpc.lastu0 .+ model.uop
+    info[:d]     = mpc.d0 + model.dop
+    info[:D̂]     = D̂
+    info[:x̂]     = mpc.estim.x̂0 .+ mpc.estim.x̂op
+    info[:ŷ]     = mpc.ŷ
+    info[:Ŷ]     = Ŷ
+    info[:x̂end]  = x̂0end + mpc.estim.x̂op
+    info[:Ŷs]    = Ŷs
+    info[:R̂y]    = mpc.R̂y
+    info[:R̂u]    = mpc.R̂u
     # --- non-Unicode fields ---
     info[:DeltaU] = info[:ΔU]
     info[:epsilon] = info[:ϵ]