Cherry pick doc and general improvements commits from hessian_objective

[franckgaga]

Include calling rethrow() instead of rethrow(err) and minor corrections in doc and tests

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 83.33333% with 4 lines in your changes missing coverage. Please review.

Project coverage is 98.81%. Comparing base (6c5f770) to head (128922f).
Report is 17 commits behind head on main.

Files with missing lines	Patch %	Lines
src/controller/execute.jl	33.33%	2 Missing ⚠️
src/estimator/mhe/execute.jl	83.33%	1 Missing ⚠️
src/general.jl	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #200      +/-   ##
==========================================
- Coverage   98.90%   98.81%   -0.10%     
==========================================
  Files          25       25              
  Lines        4220     4223       +3     
==========================================
- Hits         4174     4173       -1     
- Misses         46       50       +4     

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[franckgaga]

The MTK example in the manual no longer work. For now, I will pin MTK version in the doc environment and add compat admonition in the doc.

@baggepinnen or @1-Bart-1 are you aware of any change in MTK recently that broke the MTK code ?

The model is:

using ModelPredictiveControl, ModelingToolkit
using ModelingToolkit: D_nounits as D, t_nounits as t, varmap_to_vars
@mtkmodel Pendulum begin
    @parameters begin
        g = 9.8
        L = 0.4
        K = 1.2
        m = 0.3
    end
    @variables begin
        θ(t) # state
        ω(t) # state
        τ(t) # input
        y(t) # output
    end
    @equations begin
        D(θ)    ~ ω
        D(ω)    ~ -g/L*sin(θ) - K/m*ω + τ/m/L^2
        y       ~ θ * 180 / π
    end
end
@named mtk_model = Pendulum()
mtk_model = complete(mtk_model)

it crashes at this line:

    (_, f_ip), dvs, psym, io_sys = ModelingToolkit.generate_control_function(
        model, inputs, split=false; outputs
    )

the error is:

ERROR: The LHS cannot contain nondifferentiated variables. Please run `structural_simplify` or use the DAE form.
Got y(t) ~ 57.29577951308232θ(t)
Stacktrace:
 [1] error(s::String)
   @ Base ./error.jl:35
 [2] check_operator_variables(eqs::Vector{Equation}, op::Type{Differential})
   @ ModelingToolkit ~/.julia/packages/ModelingToolkit/Iruox/src/utils.jl:361
 [3] generate_control_function(sys::ODESystem, inputs::Vector{…}, disturbance_inputs::Vector{…}; disturbance_argument::Bool, implicit_dae::Bool, simplify::Bool, eval_expression::Bool, eval_module::Module, kwargs::@Kwargs{…})
   @ ModelingToolkit ~/.julia/packages/ModelingToolkit/Iruox/src/inputoutput.jl:233
 [4] generate_f_h(model::ODESystem, inputs::Vector{Num}, outputs::Vector{Num})
   @ Main ~/.julia/dev/ModelPredictiveControl/docs/src/manual/mtk.md:60
 [5] top-level scope
   @ ~/.julia/dev/ModelPredictiveControl/docs/src/manual/mtk.md:105
Some type information was truncated. Use `show(err)` to see complete types.

Once again, a not-so-helpful error message since it is clearly mentionned in generate_control_function docstring that we should not call structural_simplify

[franckgaga]

FYI, the exemple work in MTK v9.76.0. So the breaking change is in v9.77.0

[baggepinnen]

I'm not sure what has changed in MTK, when MTK examples break it's usually only @AayushSabharwal who knows why