Skip to content

Update tutorial-abstract.md #467

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jbcaillau merged 1 commit into from
Apr 19, 2025
Merged

Update tutorial-abstract.md #467

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions docs/src/tutorial-abstract.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -279,7 +279,7 @@ end
```

!!! caveat
Write either `u(t)^2` or `(u^2)(t)`, not `u^2(t)` since in Julia the latter is means `u^(2t)`. Moreover,
Write either `u(t)^2` or `(u^2)(t)`, not `u^2(t)` since in Julia the latter means `u^(2t)`. Moreover,
in the case of equalities or of one-sided inequalities, the control and / or the state must belong to the *left-hand side*. The following will error:

```@setup main-repl
Expand Down Expand Up @@ -358,14 +358,14 @@ or
t ∈ [0, 1], time
x = (q, v) ∈ R², state
u ∈ R, control
0.5integrate(q(t) + u(t)^2) → min
0.5integral(q(t) + u(t)^2) → min
...
end
```

The integration range is implicitly equal to the time range, so the cost above is to be understood as
```math
\int_0^1 \left( q(t) + u^2(t) \right) \mathrm{d}t \to \min.
\frac{1}{2} \int_0^1 \left( q(t) + u^2(t) \right) \mathrm{d}t \to \min.
```

As for the dynamics, the parser will detect whether the integrand depends or not on time (autonomous / non-autonomous case).
Expand Down
Loading