test: LinMPC custom linear constraints with lower bound

Author: franckgaga

test/3_test_predictive_control.jl

@@ -452,23 +452,31 @@ end
     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])
+    mpc_wy = setconstraint!(mpc_wy, wmin=[36], wmax=[75])
     preparestate!(mpc_wy, [50], [30])
+    u = moveinput!(mpc_wy, [0], [30])
+    @test all(isapprox.(getinfo(mpc_wy)[:Ŷ], 36; atol=1e-1))
     u = moveinput!(mpc_wy, [100], [30])
-    @test all(isapprox.(getinfo(mpc_wy)[:Ŷ], 75.0; atol=1e-1))
+    @test all(isapprox.(getinfo(mpc_wy)[:Ŷ], 75; atol=1e-1))
     mpc_wu = LinMPC(model2, Nwt=[0], Cwt=Inf, Hp=50, Hc=50, Wu=[1])
-    mpc_wu = setconstraint!(mpc_wu, wmax=[20])
+    mpc_wu = setconstraint!(mpc_wu, wmin=[4], wmax=[20])
     preparestate!(mpc_wu, [50], [30])
+    u = moveinput!(mpc_wu, [0], [30])
+    @test all(isapprox.(getinfo(mpc_wu)[:U], 4; atol=1e-1))
     u = moveinput!(mpc_wu, [100], [30])
-    @test all(isapprox.(getinfo(mpc_wu)[:U], 20.0; atol=1e-1))
+    @test all(isapprox.(getinfo(mpc_wu)[:U], 20; 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])
+    mpc_wd = setconstraint!(mpc_wd, wmin=[56], wmax=[95])
     preparestate!(mpc_wd, [50], [30])
+    u = moveinput!(mpc_wd, [0], [30])
+    @test all(isapprox.(getinfo(mpc_wd)[:Ŷ], 56-30; atol=1e-1))
     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])
+    mpc_wr = setconstraint!(mpc_wr, wmin=[52], wmax=[175])
     preparestate!(mpc_wr, [50], [30])
+    u = moveinput!(mpc_wr, [21], [30])
+    @test all(isapprox.(getinfo(mpc_wr)[:Ŷ], 52-21; atol=1e-1))    
     u = moveinput!(mpc_wr, [100], [30])
     @test all(isapprox.(getinfo(mpc_wr)[:Ŷ], 175-100; atol=1e-1))
 end