v2.3.1

ModelPredictiveControl v2.3.1

Diff since v2.3.0

Merged pull requests:

• doc: new control topology block diagram + CONTRIBUTING.md (#347) (@franckgaga)

v2.3.0

ModelPredictiveControl v2.3.0

Diff since v2.2.3

Merged pull requests:

• CompatHelper: bump compat for LinearMPC in [weakdeps] to 0.9, (keep existing compat) (#344) (@github-actions[bot])
• build(deps): bump codecov/codecov-action from 5 to 6 (#345) (@dependabot[bot])
• added: number of colors in Jacobians and Hessians sparsity patterns of getinfo dictionnary. (#346) (@franckgaga)

v2.2.3

ModelPredictiveControl v2.2.3

Diff since v2.2.2

Merged pull requests:

• doc: debug plant parameter vector in MTK example of the manual (#342) (@franckgaga)

v2.2.2

ModelPredictiveControl v2.2.2

Diff since v2.2.1

Merged pull requests:

• doc: updating MTK example to v11 in manual. (#340) (@franckgaga)

v2.2.1

ModelPredictiveControl v2.2.1

Diff since v2.2.0

Merged pull requests:

• test: add Aqua.jl to the test suite (#341) (@franckgaga)

v2.2.0

ModelPredictiveControl v2.2.0

Diff since v2.1.2

Merged pull requests:

• doc: minor correction (#338) (@franckgaga)
• added: current estimate x̂ and last input lastu in getinfo dictionnary for MPCs (#339) (@franckgaga)

v2.1.2

ModelPredictiveControl v2.1.2

Diff since v2.1.1

• added: stochastic state defects as linear equality constraints for non-SingleShooting
• changed: exclude Inf bounds in the inequality constraint fields of getinfo

Merged pull requests:

• build(deps): bump julia-actions/cache from 2 to 3 (#334) (@dependabot[bot])
• added: stochastic state defects as linear equality constraints for all CollocationMethods (#335) (@franckgaga)
• added: stochastic state defects as linear equality constraints for MultipleShooting (#336) (@franckgaga)
• changed: exclude Inf bounds in the inequality constraint fields of getinfo (#337) (@franckgaga)

v2.1.1

ModelPredictiveControl v2.1.1

Diff since v2.1.0

Merged pull requests:

• debug: do not allow h>1 in OrthogonalCollocation (#333) (@franckgaga)

v2.1.0

ModelPredictiveControl v2.1.0

Diff since v2.0.0

Merged pull requests:

• Update transcription method description in README (#328) (@franckgaga)
• bench: including OrthogonalCollocation and various maintenance (#329) (@franckgaga)
• bench: compare OrthogonalCollocation to other TranscriptionMethod (#330) (@franckgaga)
• added: h=1 support for OrthogonalCollocation + misc. improvements (#331) (@franckgaga)

v2.0.0

ModelPredictiveControl v2.0.0

Diff since v1.16.3

• BREAKING: removed oracle keyword from NonLinMPC and MovingHorizonEstimator
• BREAKING: added slack ϵ in the JE function signature of NonLinMPC
• added: OrthogonalCollocation with gaussradau and gausslegendre schemes
• removed: specialized obj_nonlinprog! for LinModel in NonLinMPC (slower)
• removed: deprecated preparestate! method
• doc: concise documentation of OrthogonalCollocation internals

Merged pull requests:

• 📐 added: OrthogonalCollocation with gaussradau and gausslegendre schemes (#322) (@franckgaga)
• removed: oracle keyword in NonLinMPC and MovingHorizonEstimator (#323) (@franckgaga)
• removed: deprecated preparestate! method (#324) (@franckgaga)
• removed: specialized obj_nonlinprog! for LinModel in NonLinMPC (slower) (#325) (@franckgaga)
• changed: added slack ϵ in the JE function signature of NonLinMPC (#326) (@franckgaga)
• doc: minor corrections (#327) (@franckgaga)

Closed issues:

• New transcription method based on orthogonal collocation (#238)