Update documentation and test files for control-free example

Author: ocots

docs/make.jl

@@ -153,7 +153,7 @@ cp(
 Draft = false
 ```
 =#
-draft = false  # Draft mode: if true, @example blocks in markdown are not executed
+draft = true  # Draft mode: if true, @example blocks in markdown are not executed
 
 # ═══════════════════════════════════════════════════════════════════════════════
 # Load extensions

docs/src/assets/Manifest.toml

@@ -7,10 +7,6 @@ Control-free problems are optimal control problems without a control variable. T
 
 This page demonstrates two simple examples with known analytical solutions.
 
-!!! compat "Upcoming feature"
-
-    The syntax shown here uses a workaround with a dummy control variable (`u ∈ R, control`) and a small penalty term (`1e-5*u(t)^2`) in the cost to force `u ≈ 0`, because the parser does not yet support omitting the control declaration. These workaround lines are marked with `# TO REMOVE WHEN POSSIBLE` and will be removed once native control-free syntax is implemented.
-
 First, we import the necessary packages:
 
 ```@example main
@@ -46,13 +42,11 @@ ocp1 = @def begin
     p ∈ R, variable              # growth rate to estimate
     t ∈ [0, 10], time
     x ∈ R, state
-    u ∈ R, control               # TO REMOVE WHEN POSSIBLE
     
     x(0) == 2.0
-    
     ẋ(t) == p * x(t)
     
-    ∫((x(t) - data(t))^2 + 1e-5*u(t)^2) → min  # fit to observed data # TO REMOVE u(t) when possible
+    ∫(x(t) - data(t))^2 → min  # fit to observed data
 end
 nothing # hide
 ```
@@ -103,15 +97,14 @@ ocp2 = @def begin
     ω ∈ R, variable              # pulsation to optimize
     t ∈ [0, 1], time
     x = (q, v) ∈ R², state
-    u ∈ R, control               # TO REMOVE WHEN POSSIBLE
     
     q(0) == 1.0
     v(0) == 0.0
     q(1) == 0.0                  # final condition
     
     ẋ(t) == [v(t), -ω^2 * q(t)]
     
-    ω^2 + 1e-5*∫(u(t)^2) → min   # minimize pulsation # TO REMOVE u(t) when possible
+    ω^2 → min   # minimize pulsation
 end
 nothing # hide
 ```

docs/src/example-control-free.md

@@ -29,13 +29,12 @@ function ExponentialGrowth()
         p ∈ R, variable              # growth rate to estimate
         t ∈ [0, 10], time
         x ∈ R, state
-        u ∈ R, control               # TO REMOVE WHEN POSSIBLE
 
         x(0) == 2.0
 
         ẋ(t) == p * x(t)
 
-        ∫((x(t) - data(t))^2 + 1e-5*u(t)^2) → min  # fit to observed data # TO REMOVE u(t) when possible
+        ∫((x(t) - data(t))^2) → min  # fit to observed data
     end
 
     return (
@@ -73,15 +72,14 @@ function HarmonicOscillator()
         ω ∈ R, variable              # pulsation to optimize
         t ∈ [0, 1], time
         x = (q, v) ∈ R², state
-        u ∈ R, control               # TO REMOVE WHEN POSSIBLE
 
         q(0) == 1.0
         v(0) == 0.0
         q(1) == 0.0                  # final condition
 
         ẋ(t) == [v(t), -ω^2 * q(t)]
 
-        ω^2 + 1e-5*∫(u(t)^2) → min   # minimize pulsation # TO REMOVE u(t) when possible
+        ω^2 → min   # minimize pulsation
     end
 
     return (