Releases | Open Source Science

ModelPredictiveControl - v1.9.0

ModelPredictiveControl v1.9.0

added: TrapezoidalCollocation method for continuous nonlinear systems
added: dependabot.yml file to help with the CI dependencies
changed: new fields with the continuous state-space function model.f! and model.h! in NonLinModels (instead of model.solver_f! and model.solver_h!)
test: new test with TrapezoidalCollocation and Ipopt
bench: new case studies with TrapezoidalCollocation on the pendulum

Merged pull requests: - bench: increasing samples to reduce SD when needed (#228) (@franckgaga) - added: dependabot.yml file to help with CI dependencies (#230) (@franckgaga) - build(deps): bump julia-actions/setup-julia from 1 to 2 (#231) (@dependabot[bot]) - build(deps): bump actions/checkout from 2 to 5 (#232) (@dependabot[bot]) - changed: keep f! and h! functions available (#233) (@franckgaga) - added: simple TrapezoidalCollocation() transcription method (#234) (@franckgaga) - doc: clarifying model augmentation for NonLinMPC in f̂! docstring (#235) (@franckgaga) - added: show TranscriptionMethod when printing PredictiveController (#236) (@franckgaga) - added: unit tests and benchmarks for TrapezoidalCollocation (#237) (@franckgaga)

Closed issues: - Trapezoidal collocation transcription (#164)

- Julia
Published by github-actions[bot] 6 months ago

ModelPredictiveControl - v1.8.2

ModelPredictiveControl v1.8.2

Diff since v1.8.1

added: new benchmark suite that runs automatically on each PR with AirspeedVelocity.jl

Merged pull requests: - test: increase Ts of NonLinMPC test to avoid out-of-time status (#217) (@franckgaga) - added: benchmarking workflow with github actions (#218) (@franckgaga) - bench: added allocation benchmarks on CI (#219) (@franckgaga) - doc: minor correction (#220) (@franckgaga) - bench: trying AirspeedVelocity.jl (#221) (@franckgaga) - bench: adding some PredictiveController benchmarks (#222) (@franckgaga) - CompatHelper: bump compat for SparseConnectivityTracer to 1, (keep existing compat) (#223) (@github-actions[bot]) - bench: add OSQP and Random as dependencies (#224) (@franckgaga) - bench: minor modification (#225) (@franckgaga) - debug: MovingHorizonEstimator no longer crash with error termination flag (#226) (@franckgaga) - bump (#227) (@franckgaga)

- Julia
Published by github-actions[bot] 8 months ago

ModelPredictiveControl - v1.8.1

ModelPredictiveControl v1.8.1

Diff since v1.8.0

added: new KalmanCovariance parametric struct to handle covariance sparsity efficiently
added: dispatch on repeatdiag to preserve Diagonnals
added: in-place and allocation-free inv! for MHE covariance matrices
changed: store P̃Δu, P̃u and Tu conversion matrices as SparseMatrixCSC
debug: support Hermitian weights in PredictiveController
debug: use dummy b vector in MHE setmodel! to avoid ±Inf values
test: verify setmodel! with He>1 for MHE
test: new integration with ManualEstimator and MPCs
doc: various improvements

Merged pull requests: - new ManualEstimator tests and minor doc corrections (#210) (@franckgaga) - doc : minor clarifications (#211) (@franckgaga) - Changed: store conversion matrices as SparseMatrixCSC (#212) (@franckgaga) - added: inv! for MovingHorizonEstimator covariance matrices (#214) (@franckgaga) - debug: support Hermitian weights in PredictiveController (#215) (@franckgaga) - added: new KalmanCovariance struct to handle covariance sparsity efficiently (#216) (@franckgaga)

- Julia
Published by github-actions[bot] 9 months ago

ModelPredictiveControl - v1.8.0

ModelPredictiveControl v1.8.0

Diff since v1.7.0

added: move blocking feature in LinMPC, ExplicitMPC and NonLinMPC (see Hc argument)

Merged pull requests: - added: move blocking feature in LinMPC, ExplicitMPC and NonLinMPC (#201) (@franckgaga)

Closed issues: - Implement manipulated input blocking (#177)

- Julia
Published by github-actions[bot] 9 months ago

ModelPredictiveControl - v1.7.0

ModelPredictiveControl v1.7.0

Diff since v1.6.2

added: ManualEstimator to turn off built-in state estimation and provide your own estimate

Merged pull requests: - added: ManualEstimator to turn off built-in state estimation (#206) (@franckgaga) - changed: moved lastu0 inside PredictiveController objects (#208) (@franckgaga) - Added tests and improve doc for ManualEstimator (#209) (@franckgaga)

Closed issues: - Create a CustomEstimator to ease interfacing with Low-level particle filter package (#142) - Support nonlinear estimator with linear model predictive control (#205)

- Julia
Published by github-actions[bot] 9 months ago

ModelPredictiveControl - v1.6.2

ModelPredictiveControl v1.6.2

Diff since v1.6.1

Merged pull requests: - CompatHelper: bump compat for DifferentiationInterface to 0.7, (keep existing compat) (#203) (@github-actions[bot]) - changed: compat of DAQP to 0.6, 0.7.1 (#204) (@franckgaga) - debug: force update of gradient/jacobian in MovingHorzionEstimator when window not filled (#207) (@franckgaga)

- Julia
Published by github-actions[bot] 9 months ago

ModelPredictiveControl - v1.6.1

ModelPredictiveControl v1.6.1

Diff since v1.6.0

added: improve NonLinMPC performances with specialized conversion and weight matrices
changed: M_Hp, N_Hc and L_Hp keyword arguments now default to Diagonal instead of diagm matrices for all PredictiveController constructors

Merged pull requests: - Cherry pick doc and general improvements commits from hessian_objective (#200) (@franckgaga) - added: be more efficient with weights and conversion matrices for NonLinMPC (#202) (@franckgaga)

Closed issues: - Support exact Hessian of objective function J in NonLinMPC and MovingHorizonEstimator (#193) - Use one function in linearization (#199)

- Julia
Published by github-actions[bot] 10 months ago

ModelPredictiveControl - v1.6.0

ModelPredictiveControl v1.6.0

Diff since v1.5.3

added: general performance boost of NonLinMPC and MovingHorizonEstimator using value_and_gradient!/jacobian! of DifferentiationInterface.jl instead of individual calls (similar to DiffResults.jl goal) 🚀🚀🚀
added: setstate! now allows manual modifications of the estimation error covariance $\mathbf{\hat{P}}$ (if computed by the estimator)

Merged pull requests: - added: setstate! now allows estimation covariance P̂ modification (if applicable) (#192) (@franckgaga) - doc: minor corrections (#196) (@franckgaga) - Added: NonLinMPC and MovingHorizonEstimator now use value_and_gradient!/jacobian! of DI.jl (#197) (@franckgaga)

Closed issues: - Precompilation is failing (#195)

- Julia
Published by github-actions[bot] 10 months ago

ModelPredictiveControl - v1.5.3

ModelPredictiveControl v1.5.3

Diff since v1.5.2

Merged pull requests: - Test: added allocations tests for types that are known to be allocation-free (SKIP THEM FOR NOW) (#187) (@franckgaga) - test: fix CI badge (#188) (@franckgaga) - debug: remove .data in KalmanFilter matrix products (#189) (@franckgaga) - test: adapt tests for the new automatically balancing minreal function (#191) (@franckgaga)

- Julia
Published by github-actions[bot] 10 months ago

ModelPredictiveControl - v1.5.2

ModelPredictiveControl v1.5.2

Diff since v1.5.1

Merged pull requests: - debug: do not call jacobian! if nd==0 in linearize (#186) (@franckgaga)

Closed issues: - Linearize is failing when using AutoFiniteDiff() (#185)

- Julia
Published by github-actions[bot] 11 months ago

ModelPredictiveControl - v1.5.1

ModelPredictiveControl v1.5.1

Diff since v1.5.0

removed: DiffCaches in RungeKutta solver
debug: no more noisy @warn about DiffCache chunk size
changed: compat for ForwardDiff to 0.10, 1
test: added compat entries for the test-only dependencies in [extras] section

Merged pull requests: - CompatHelper: bump compat for ForwardDiff to 1, (keep existing compat) (#182) (@github-actions[bot]) - Changed: RungeKutta no longer uses DiffCache (#183) (@franckgaga)

- Julia
Published by github-actions[bot] 11 months ago

ModelPredictiveControl - v1.5.0

ModelPredictiveControl v1.5.0

Diff since v1.4.4

added: migration to DifferentiationInterface.jl
added: new gradient and jacobian keyword arguments for NonLinMPC
added: new gradient and jacobian keyword arguments for MovingHorizonEstimator
added: new jacobian keyword argument for NonLinModel (for linearization)
added: new jacobian keyword argument for ExtendedKalmanFilter
added: ExtendedKalmanFilter is now allocation-free at runtime
test: many new test with AutoFiniteDiff backend

Merged pull requests: - added: NonLinMPC and MovingHorizonEstimator integration with DI.jl (#174) (@franckgaga) - added: linearize! now uses DifferentiationInterface.jl (#179) (@franckgaga) - Added: ExtendedKalmanFilter now uses DifferentiationInterface.jl + now allocation-free (#180) (@franckgaga)

Closed issues: - Use DifferentiationInterface.jl (#162)

- Julia
Published by github-actions[bot] 11 months ago

ModelPredictiveControl - v1.4.4

ModelPredictiveControl v1.4.4

Diff since v1.4.3

Merged pull requests: - Debug: ineq. constraint for NonLinModel and MultipleShooting (#178) (@franckgaga)

- Julia
Published by github-actions[bot] 12 months ago

ModelPredictiveControl - v1.4.3

ModelPredictiveControl v1.4.3

Diff since v1.4.2

Merged pull requests: - Debug x_noise argument in sim! and deprecate preparestate!(::SimModel, _ , _ ) (#173) (@franckgaga) - debug: terminal constraint now works with MultipleShooting + NonLinModel (#176) (@franckgaga)

- Julia
Published by github-actions[bot] 12 months ago

ModelPredictiveControl - v1.4.2

ModelPredictiveControl v1.4.2

Diff since v1.4.1

added: major performance boost of NonLinMPC and MovingHorizonEstimator with NL constraints (5-10x) 🥳🥳🥳
changed: big refactor of NLP functions for the integration of DifferentiationInterface.jl

Merged pull requests: - Changed: major NLP refactoring for flexibility and significantly improve performance (#171) (@franckgaga)

- Julia
Published by github-actions[bot] 12 months ago

ModelPredictiveControl - v1.4.1

ModelPredictiveControl v1.4.1

Diff since v1.4.0

debug: correct @error message for MPC when not solved (it was the MHE message)
debug: allow LinModel linearization (useless, only for consistency among SimModel types)
test: new tests with MultipleShooting for coverage
doc: minor improvements

Merged pull requests: - test for MultipleShooting and doc improvements (#166) (@franckgaga) - add new feature to readme (#167) (@franckgaga) - Minor doc corrections + allow LinModel linearization (#168) (@franckgaga) - debug: correct @error msg for MPC not solved (#169) (@franckgaga) - changed: moved equality constraint function to transcription.jl and bump (#170) (@franckgaga)

- Julia
Published by github-actions[bot] 12 months ago

ModelPredictiveControl - v1.4.0

ModelPredictiveControl v1.4.0

Diff since v1.3.5

Merged pull requests: - added: multiple shooting transcription for LinMPC and NonLinMPC (#155) (@franckgaga)

Closed issues: - Multiple shooting transcription (#140)

- Julia
Published by github-actions[bot] 12 months ago

ModelPredictiveControl - v1.3.5

ModelPredictiveControl v1.3.5

Diff since v1.3.4

added: linearize! is allocation-free once again
changed: re-worked AD buffers to prepare the ground for DifferentiationInterface.jl

Merged pull requests: - added: linearize! is allocation-free once again (#165) (@franckgaga)

Closed issues: - Add support for a simple stiff solver similar to SimpleColloc in SeeToDee.jl (#129)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.3.4

ModelPredictiveControl v1.3.4

Diff since v1.3.3

debug: all fields of NonLinModel are now concrete types

Merged pull requests: - debug: NonLinModel fields are now all concrete types (#161) (@franckgaga)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.3.3

ModelPredictiveControl v1.3.3

Diff since v1.3.2

debug: revert allocation-free linearize! to avoid NonLinModel type-instabilities

Merged pull requests: - debug: revert allocation-free linearize! to avoid NonLinModel type-instability (#160) (@franckgaga)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.3.2

ModelPredictiveControl v1.3.2

Diff since v1.3.1

added: update test for new VS code test framework
debug: fallback if nonfinite arr. cov. after correction/update
debug: add busywait arg to periodsleep for StateEstimator and PredictiveController
changed: @error instead of @warn in MHE fallback for arrival covariance
changed: update CI and test on pre instead of nightly
changed: simpler code for stochastic predictions of InternalModel

Merged pull requests: - changed: @error instead of @warn in MHE arrival covariance fallback + update CI (#154) (@franckgaga) - debug: fallback if nonfinite arr. cov. after correction/update (#156) (@franckgaga) - changed: simpler code for stochastic predictions of InternalModel (#157) (@franckgaga) - update test for new VS code test framework (#158) (@franckgaga) - bump (#159) (@franckgaga)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.3.1

ModelPredictiveControl v1.3.1

Diff since v1.3.0

added: show @debug messages in github CI if debug logging is activated
changed: @debug messages with the getinfo dictionary are never truncated (show_limited=false is no longer necessary)

Merged pull requests: - added: show @debug message in CI if debug logging is activated (#153) (@franckgaga)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.3.0

ModelPredictiveControl v1.3.0

Diff since v1.2.0

added: show getinfo dictionary in the debug log if activated (instead of only the solution summary of JuMP)
added: show tips about debug log in the optimization warning and error messages
debug: fallback if MovingHorizonEstimator arrival covariance update fails (keep the old one)
changed: covariance matrix inversion with cholesky instead of inv in MovingHorizonEstimator (inv internally uses lu)

Merged pull requests: - doc: torques constraints AND power constraint in the example (manual) (#150) (@franckgaga) - debug: fallback if MovingHorizonEstimator arrival covariance update fails (#151) (@franckgaga) - added: call getinfo when debug logging is activated and not solved (#152) (@franckgaga)

Closed issues: - Error on execution of doc example (#146)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.2.0

ModelPredictiveControl v1.2.0

Diff since v1.1.4

added: ForwardEuler ODE solver
added: remove 1 useless .=op in RungeKutta(4)
added: forcing specialization in the NLP functions by using Vararg{T, N} instead of splatting (see this tip)
added: skipping computations in extended_predictions when possible
added: print the solver order for NonLinModel
changed: bump julia compat to 1.10 (new LTS)
changed: improve code reuse in NLP functions to improve code maintainability
test: new tests for ForwardEuler
doc: info about types that allocate or not

Merged pull requests: - removing commented out code (#144) (@franckgaga) - added: new ForwardEuler solver with 0 allocation (#145) (@franckgaga) - bump julia compat to 1.10 (LTS) (#147) (@franckgaga) - Added: slightly speed up NonLinMPC and MovingHorizonEstimator (#149) (@franckgaga)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.1.4

ModelPredictiveControl v1.1.4

Diff since v1.1.3

added: linearize! is now allocation free
added: do not call gc! if nc==0
added: new mpc.buffer.ΔŨ buffer to reduce the allocations
changed: preparestate! default d argument as empty vector
various doc improvements

Merged pull requests: - changed: preparestate! default d argument as empty vector (#137) (@franckgaga) - added: do not call gc! if nc==0 (#138) (@franckgaga) - added: reduce allocations for PredictiveController (#139) (@franckgaga) - added: linearize! is now allocation free (#141) (@franckgaga) - Update Project.toml (#143) (@franckgaga)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.1.3

ModelPredictiveControl v1.1.3

Diff since v1.1.2

added: :gc field in getinfo for custom constraints of NonLinMPC
debug: allow setmodel! on SteadyKalmanFilter/Luenberger when there is no model modification (for changing the weights of a PredictiveController)
test: validating the :gc fields of getinfo! in the constraint violation tests
doc: remove Hp parameter in the gc example of the manual (useless)

Merged pull requests: - added: gc in getinfo (#136) (@franckgaga)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.1.2

ModelPredictiveControl v1.1.2

Diff since v1.1.1

added: save some computations in NonLinMPC with T_lastu field instead of T_lastu0
changed: moved all controller weights in mpc.weights struct to improve code re-use
test: improve constraint violation tests (verify the whole horizons, use distinct lower and upper bounds)
test: new custom constraint violation tests that use Ue argument
doc: added a custom nonlinear constraint example on the motor power in the manual
doc: various improvements

Merged pull requests: - added: save some NonLinMPC computations with T_lastu instead of T_lastu0 for input conversion (#133) (@franckgaga) - doc: minor correction (#134) (@franckgaga) - Doc: nonlinear custom constraint example on the motor in the manual (#135) (@franckgaga)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.1.1

ModelPredictiveControl v1.1.1

Diff since v1.1.0

fixed: remove a type-instability in LinMPC and NonLinMPC introduced in v1.1.0
added: reduce allocations with PredictiveControllers using new fields in mpc.buffer object
added: improve performance with 4 iszero_X fields for each PredictiveController weight, to skip computations when possible
changed: moved all controller weights in mpc.weights struct to improve code re-use
test: new custom constraint violation tests that use Ue argument

Merged pull requests: - Fix type instability in LinMPC and NonLinMPC (introduced in 1.1.0) (#130) (@franckgaga) - Changed: moved all controller weights in mpc.weights struct (#131) (@franckgaga) - Added: iszero_W field in for the 4 weights in ControllerWeights struct (#132) (@franckgaga)

- Julia
Published by github-actions[bot] about 1 year ago

ModelPredictiveControl - v1.1.0

ModelPredictiveControl v1.1.0

Diff since v1.0.2

added: support for custom nonlinear inequality constraints gc in NonLinMPC
added: call JE and gc once in NonLinMPC constructor and show stacktrace if it fails (to guide the user)
doc: additional details on vector dimensions
doc: documents the dummy function plot_recipe instead of plot to avoid confusion
tests: new test for custom nonlinear constraint violation

Merged pull requests: - Added: support for custom nonlinear constraints gc in NonLinMPC (#118) (@franckgaga) - Avoid introducing MPC.plot (#120) (@baggepinnen) - Custom constraints : add tests (#128) (@franckgaga)

Closed issues: - plot not working (#119)

- Julia
Published by github-actions[bot] over 1 year ago

ModelPredictiveControl - v1.0.2

ModelPredictiveControl v1.0.2

Diff since v1.0.1

changed: removed code related to Julia 1.6 compatibility (1.10 is the new LTS)
doc: add compat info to ModelingToolkit.jl example
doc: various minor modifications

Merged pull requests: - Added: details in observability error message, modify CI for new release and MTK exemple debug (#117) (@franckgaga) - Add compat details on MTK.jl bugfixes (#122) (@franckgaga) - Doc correction and simple CI fix (#123) (@franckgaga) - doc: change slmpc speed gain for the real benchmark (#125) (@franckgaga) - bump (#126) (@franckgaga)

Closed issues: - Support for dynamic differential programming in a model predictive context (#109) - MTK example no longer work (#116) - linearize is throwing an error when using an empty disturbance (#121)

- Julia
Published by github-actions[bot] over 1 year ago

ModelPredictiveControl - v1.0.1

ModelPredictiveControl v1.0.1

Diff since v1.0.0

changed: more precise error for LinModel with non-zero D matrix
doc: MTK example error message for non-strictly proper systems
doc: MTK example now uses the p argument of NonLinModel
doc: remove old stuff that no longer applies
doc: various improvements

Merged pull requests: - doc: MTK example throw error for non-strictly proper systems (#110) (@franckgaga) - doc: add the parameter p in f and h function signature (#111) (@franckgaga) - doc: remove stuff that no longer applies (#113) (@franckgaga) - bump version (#114) (@franckgaga)

Closed issues: - Better integration with ModellingToolkit (#106) - Avoid Matrix Inversion in the MovingHorizonEstimator (#112)

- Julia
Published by github-actions[bot] over 1 year ago

ModelPredictiveControl - v1.0.0

ModelPredictiveControl v1.0.0

Diff since v0.24.1

breaking change: NonLinModel new p argument in f/f! and h/h! function signature
breaking change: NonLinMPC new p argument in JE function signature
added: support for plant model parameters $\mathbf{p}$ in NonLinModel
added: support for economic function parameters $\mathbf{p}$ in NonLinMPC
doc: ModelingToolkit integration example on the pendulum model
test: improve coverage
debug: ExplicitMPC correct error message with the unsupported setconstraint! method
added: validate economic function $J_E$ argument signature

Merged pull requests: - Fix #103 (#104) (@baggepinnen) - Preparation for v1.0.0 release (#105) (@franckgaga) - Fixing documentation deployement (#107) (@franckgaga)

Closed issues: - Code coverage token secret (#103) - Better integration with ModellingToolkit (#106)

- Julia
Published by github-actions[bot] over 1 year ago

ModelPredictiveControl - v0.24.1

ModelPredictiveControl v0.24.1

Diff since v0.24.0

added: print warning if preparestate! is called after moveinput! or evaloutput with current estimators
added: reduce allocations with linearize!
added: reduce allocations with moveinput! calls with new buffer objects
debug: evaloutput on InternalModel now include current stochastic estimate $\mathbf{\hat{y}_s}$
test: add test to verify evaloutput correctness on InternalModel
test and precompile: add preparestate! where needed to avoid the warnings
doc: various improvements

Merged pull requests: - minor doc correction (#97) (@franckgaga) - doc: minor doc correction (#99) (@franckgaga) - debug: make it work on Julia nightly (#100) (@franckgaga) - Reduce allocations in linearize! (#101) (@franckgaga) - Warning preparestate!, debug InternalModel, reduce alloc PredictiveController (#102) (@franckgaga)

- Julia
Published by github-actions[bot] over 1 year ago

ModelPredictiveControl - v0.24.0

ModelPredictiveControl v0.24.0

Diff since v0.23.1

breaking change: MovingHorizonEstimator now default to direct=true
added: the current/filter formulation of the MovingHorizonEstimator
doc: explicitly list all the keyword arguments of all the state estimator
added: soft real time utilities
added: InternalModel now produces 0 allocation with preparestate! and updatestate! calls
tests: new integration tests that compare unconstrained MHE to UKF and KF results
tests: new integration that compare LinModel and NonLinModel

Merged pull requests: - Added: soft real time utilities (#94) (@franckgaga) - added: MovingHorizonEstimator support for direct=true, initialized with P̂(-1|-1) (#96) (@franckgaga)

Closed issues: - Real-time loop tools (#85)

- Julia
Published by github-actions[bot] over 1 year ago

ModelPredictiveControl - v0.23.1

ModelPredictiveControl v0.23.1

Diff since v0.23.0

Luenberger, SteadyKalmanFilter, KalmanFilter and UnscentedKalmanFilter now produce 0 allocation with preparestate! and updatestate! calls
doc: minor corrections

Merged pull requests: - added: doc correction and reduce allocations for all Kalman filters (#93) (@franckgaga)

Closed issues: - Support for current estimators and V1 soon? (#89)

- Julia
Published by github-actions[bot] over 1 year ago

ModelPredictiveControl - v0.23.0

ModelPredictiveControl v0.23.0

Diff since v0.22.1

BREAKING CHANGES

preparestate! should be called before solving the MPC optimization with moveinput!
current form by default for all StateEstimator
ym keyword argument of moveinput! removed (was only for InternalModel, I now use the new preparestate! method)
MovingHorizonEstimator advanced constructor (with complete covariance matrices): covestim and optim are now keyword arguments instead of positional arguments.

Changelog

added: current form for all StateEstimator except MovingHorizonEstimator, to improve accuracy and closed-loop robustness
reduce allocation for SimModeland StateEstimator instances by using internal buffers
multiple doc correction

Merged pull requests: - minor doc correction (#87) (@franckgaga) - minor doc additions (#88) (@franckgaga) - added: support for the current form for all the state estimators (#90) (@franckgaga) - Reduce allocations by avoiding empty for default d argument (#91) (@franckgaga) - added: SimModelBuffer and StateEsimatorBuffer objects to reduce the allocations (#92) (@franckgaga)

- Julia
Published by github-actions[bot] over 1 year ago

ModelPredictiveControl - v0.22.1

ModelPredictiveControl v0.22.1

Diff since v0.22.0

added: support for Mwt, Nwt and Lwt keyword arguments in setmodel! (to simplify the API)
reduce allocations in setconstraint!
minor doc corrections

Merged pull requests: - non unicode alternative setmodel MPC (#79) (@franckgaga) - minor doc correction (#80) (@franckgaga) - idem (#81) (@franckgaga) - doc: change nomenclature EMPC (#83) (@franckgaga) - Minor correction doc (#84) (@franckgaga) - Added: Mwt, Nwt and Lwt kwargs in setmodel! (#86) (@franckgaga)

Closed issues: - How to successfully impose constraints to a Control Variable with high priority (#78)

- Julia
Published by github-actions[bot] over 1 year ago

ModelPredictiveControl - v0.22.0

ModelPredictiveControl v0.22.0

Diff since v0.21.3

BREAKING CHANGE

Migration the new nonlinear programming syntax of JuMP. Some optimizers may not support it yet.

added: online modification of objective function weights and covariance matrices with setmodel!
added: accept indices and ranges in plot keyword arguments
changed: migrate the NLP code to the new syntax
doc: added plot result previews with static images
new tests for new plot recipes and weights/covariances modification

Merged pull requests: - New jump nlp syntax, merge into main? (#31) (@franckgaga) - Added: online modification of weights and covariances (#77) (@franckgaga)

Closed issues: - MPC getinfo results (#76)

- Julia
Published by github-actions[bot] over 1 year ago

ModelPredictiveControl - v0.21.3

ModelPredictiveControl v0.21.3

Diff since v0.21.2

added: index ranges or vectors for plot keyword arguments (to select variables to plot)
doc: separate page for sim! and plot functions
doc: document plot keyword arguments
doc: plot results in examples

Merged pull requests: - Doc: minor corrections and add preview cleanup workflow (#71) (@franckgaga) - cleanup MHE append 0 to deviation vector variables (#72) (@franckgaga) - added: support indices keyword argument in plot recipes (#73) (@franckgaga) - bump (#74) (@franckgaga)

- Julia
Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.21.2

ModelPredictiveControl v0.21.2

Diff since v0.21.1

added: show sim! % progress and ETA in VS Code status bar
added: plot estimated state constraints x̂min/x̂max for MHE
debug: RungeKutta diff cache chuck size nx+2
doc: added plot recipe documentation (for keyword arguments)
tests: unconstrained MHE vs KF/UKF tests

Merged pull requests: - debug: RungeKutta diff cache chuck size nx+2 (#67) (@franckgaga) - minor doc correction (#68) (@franckgaga) - added: plot recipes doc and plot MHE state estimate constrains (#69) (@franckgaga) - Update Project.toml (#70) (@franckgaga)

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Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.21.1

ModelPredictiveControl v0.21.1

Diff since v0.21.0

added: non-Unicode alternative keyword arguments in public functions
added: modify plots Y-axis labels with setname!
debug: plots Ru instead of Ry for u setpoint (recipe)
remove one useless allocation in updatestate!
various doc corrections and improvements

Merged pull requests: - doc: correct mistake in MPC prediction matrices (#56) (@franckgaga) - Doc correction (#57) (@franckgaga) - doc: clarify notation update_estimate! and imc block diagram (#58) (@franckgaga) - IMC block diagram (#59) (@franckgaga) - remove one allocation in updatestate! (#60) (@franckgaga) - debug: plot Ru instead of Ry for u setpoint in recipe (#62) (@franckgaga) - added: setname! function for variable names in plot labels (#63) (@franckgaga) - Offer an alternative non-unicode API for keyword arguments (#64) (@franckgaga) - Update Project.toml (#66) (@franckgaga)

Closed issues: - Remove unicode char in keyword arguments (or offer an alternative) ? (#61)

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Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.21.0

ModelPredictiveControl v0.21.0

Diff since v0.20.2

BREAKING CHANGE All the keyword arguments related to initial values e.g. σP0, x0 and x̂0 now require an underscore e.g. σP_0, x_0, x̂_0 (to differentiate from operating point deviation vectors)

Added: setmodel! for runtime model adaptation of controller/estimator based on LinModel
Added: linearize and setop! now support non-equilibrium points
Added: successive linearization MPC with the new setmodel! and linearize functions
Added: successive linearization MHE with the new setmodel! and linearize functions
Added: linearize! method for in-place model linearization (to reduce allocations)
Added: 6 args. LinModel constructor now support scalars (similarly to ss function)
Added: ExtendedKalmanFilter now compute the Jacobians in-place (to reduce allocations)
Changed: struct state data x and state estimate x̂ renamed to x0 and x̂0
Debug: ExplicitMPC with non-Float64 now works
Debug: accept integers in linearize arguments
Debug: call empty! on JuMP.Model to support re-construction of MPC instances
Doc: new setmodel!, setop! and linearize function documentation
Doc: example of model adaptation with successive linearization on the pendulum (very efficient!)

Merged pull requests: - Added: adaptatation of LinMPC model through setmodel! (#52) (@franckgaga) - Added: adaptation of controller/estimator based on LinModel (#54) (@franckgaga) - Added: setmodel! for MovingHorizonEstimator (#55) (@franckgaga)

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Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.20.2

ModelPredictiveControl v0.20.2

Diff since v0.20.1

added: print info on controller and estimator constraint softening (slack var. ϵ)
reduce allocations LinMPC, NonLinMPC, MovingHorizonEstimator
cleanup namespace with imports instead of usings

Merged pull requests: - Changed: avoid collect in NonLinMPC and MovingHorizonEstimator objective and constraints (#46) (@franckgaga) - changed: error handling one less alloc (#47) (@franckgaga) - added: print info on controller and estimator constraints softening (#49) (@franckgaga) - cleaning the namespace with imports instead of usings (#50) (@franckgaga) - Namespace, NonLinMPC and MovingHorizonEsitimator cleanup (#51) (@franckgaga)

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Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.20.1

ModelPredictiveControl v0.20.1

Diff since v0.20.0

Reduce allocation for estimator based on NonLinModel
Reduce allocations for LinMPC and KalmanFilter
Improve performance of LinMPC and MovingHorizonEstimator with new JuMP batch update methods

Merged pull requests: - doc: correct errors in EKF equations (#43) (@franckgaga) - Reduce allocation for estimators based on augmented NonLinModel (#44) (@franckgaga) - Improve performance and reduce allocations of LinMPC and KalmanFilter (#45) (@franckgaga)

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Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.20.0

ModelPredictiveControl v0.20.0

Diff since v0.19.2

Added: custom estimator for the approximation of the arrival covariance in the MHE
Changed: MHE based on NonLinModel now defaults to UnscentedKalmanFilter for arrival covariance estimation
Added: tests with custom covariance estimator in the MHE

Merged pull requests: - Added: MHE supports custom estimator for the arrival covariance (#41) (@franckgaga) - added: tests for MHE custom covariance estimator (#42) (@franckgaga)

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Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.19.2

ModelPredictiveControl v0.19.2

Diff since v0.19.1

Merged pull requests: - Debug: MHE with NonLinModel update covariance with the correct state estimate (#40) (@franckgaga)

- Julia
Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.19.1

ModelPredictiveControl v0.19.1

Diff since v0.19.0

Merged pull requests: - Minor doc correction and code cleanup (#39) (@franckgaga)

- Julia
Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.19.0

ModelPredictiveControl v0.19.0

Diff since v0.18.1

BREAKING CHANGE NonLinModel constructor now supposes continuous dynamics by default. Use solver=nothing for discrete-time models.

changelog: - added: support for NonLinModel with continuous dynamics - added: 4th order Runge-Kutta solver with 0 allocation - doc: the pendulum example now use the built-in Runge-Kutta solve - added some tests with continuous NonLinModel

Merged pull requests: - starting support of continuous NonLinModel (RK4 only for now) (#38) (@baggepinnen)

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Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.18.1

ModelPredictiveControl v0.18.1

Diff since v0.18.0

remove useless allocations for mutating NonLinModels

Merged pull requests: - minor doc correction (#36) (@franckgaga) - Remove useless allocations for in-place NonLinModel (#37) (@franckgaga)

- Julia
Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.18.0

ModelPredictiveControl v0.18.0

Diff since v0.17.0

added: support for mutating f! and h! functions in NonLinModel to reduce allocations
doc: added simple example of the MovingHorizonEstimator for the CSTR in the manual

Merged pull requests: - Update README.md (#27) (@franckgaga) - Added a MHE example on the CSTR in the manual (#28) (@franckgaga) - fix wrong function signature ared (#29) (@baggepinnen) - dummy commit to trigger doc deploy (#30) (@franckgaga) - doc: minor correction MHE manual (#32) (@franckgaga) - Added: mutating NonLinModel (#33) (@franckgaga) - Re-enable precompilation (#34) (@franckgaga) - bump version (#35) (@franckgaga)

Closed issues: - Docs questions (#22) - Documentation no longer deployed (#26)

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Published by github-actions[bot] almost 2 years ago

ModelPredictiveControl - v0.17.0

ModelPredictiveControl v0.17.0

Diff since v0.16.1

added: support for non-diagonal symmetric M_Hp, N_Hc and L_Hp weights, allowing terminal costs and LQR tuning
doc: added comment on a terminal weight
reduce allocations for PredictiveControllers and MovingHorizonEstimator (with in-place operations)

Merged pull requests: - Update README links (#21) (@baggepinnen) - todo: add terminal costs (#23) (@franckgaga) - Update README.md (#24) (@franckgaga) - Added: terminal cost support (#25) (@franckgaga)

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Published by github-actions[bot] about 2 years ago

ModelPredictiveControl - v0.16.1

ModelPredictiveControl v0.16.1

Diff since v0.16.0

added: reduce allocation NonLinMPC
doc: added internal function optim_objective
doc: various doc improvements

- Julia
Published by github-actions[bot] about 2 years ago

ModelPredictiveControl - v0.16.0

ModelPredictiveControl v0.16.0

Diff since v0.15.0

added: MHE soft constraints with a single slack variable ϵ (a.k.a. equal concern for relaxation, disabled by default thus only hard constraints).
changed: more concise MPC logging in REPL.
removed: deprecated arguments for setconstraint! and NonLinMPC.
doc: hide extended help with details admonition.
doc: more concise setconstraint! and ExplicitMPC documentation.

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Published by github-actions[bot] about 2 years ago

ModelPredictiveControl - v0.15.0

ModelPredictiveControl v0.15.0

Diff since v0.14.1

added: MHE hard constraints on estimated process and sensor noises
added: MHEs based on LinModel are now treated as a quadratic optimization instead of nonlinear
added: Plots recipe avoid repeat xlabels for MIMOs
added: getinfo method for MovingHorzionEstimator for troubleshooting
debug: update MHE arrival covariance with I/Os at arrival
improved coverage

Merged pull requests: - Added: MHE with quadratic optim + process and sensor noises bounds (#20) (@franckgaga)

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Published by github-actions[bot] about 2 years ago

ModelPredictiveControl - v0.14.1

ModelPredictiveControl v0.14.1

Diff since v0.14.0

changed: default P0 value not function of Q argument

- Julia
Published by github-actions[bot] about 2 years ago

ModelPredictiveControl - v0.14.0

ModelPredictiveControl v0.14.0

Diff since v0.13.0

added: MovingHorizonEstimator that can handle constraints on estimation
added: tests for MovingHorizonEstimator

Merged pull requests: - Added: MovingHorizonEstimator with state constraints (#19) (@franckgaga)

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Published by github-actions[bot] about 2 years ago

ModelPredictiveControl - v0.13.0

ModelPredictiveControl v0.13.0

Diff since v0.12.0

added: generic number types in all SimModel, StateEstimator and PredictiveController objects (see note below)
changed: faster ΔU -> U conversion using matrices of floats (instead of booleans)
new tests with Float32.

Note that most solvers in JuMP only support Float64 numbers. Thus, PredictiveController objects still default to Float64-based optimizers, even if the plant model or state estimator uses other number types.

Merged pull requests: - Support non-Float64 numbers in all objects (#17) (@franckgaga)