Repository navigation

added: FOH discretization for `RungeKutta` in MPC/MHE and in `updatestate!(::SimModel)` - #495

Merged

franckgaga merged 57 commits into

mainfrom

foh_updatestate_modelonly

Nov 3, 2026

Merged

added: FOH discretization for `RungeKutta` in MPC/MHE and in `updatestate!(::SimModel)`#495
franckgaga merged 57 commits into
mainfrom
foh_updatestate_modelonly

Commits on Oct 22, 2026
- wip: support FOH in `RungeKutta(4)`
  franckgaga
  committed
  83e646b
Commits on Oct 24, 2026
- wip: idem
  franckgaga
  committed
  b734225
Commits on Oct 25, 2026
- wip: idem
  franckgaga
  committed
  89855fc
- added: `h` argument to `ShootingMethod`s
  franckgaga
  committed
  2739d02
- doc: `LinModel` detail in `updatestate!`
  franckgaga
  committed
  9ec2cd4
Commits on Oct 28, 2026
- Merge branch 'main' into foh_updatestate_modelonly
  franckgaga
  committed
  612d270
- changed: left limit in `updatestate!` doc
  franckgaga
  committed
  43f948f
- removed: useless parameter in methods
  franckgaga
  committed
  300dfae
- doc: minor change
  franckgaga
  committed
  075dfdb
- doc: `StateEstimator` does not support `unext` and `dnext`
  franckgaga
  committed
  465cce1
- doc: minor correction
  franckgaga
  committed
  e4ee6f4
- added: temp fix
  franckgaga
  committed
  eca7e54
- removed: `unext` and `dnext` arg to `updatestate!(::PredictiveController)`
  franckgaga
  committed
  870c601
- wip: new `f̂!` supporting only ZOH
  franckgaga
  committed
  df83f24
- debug: UKF with new `f̂!` signature
  franckgaga
  committed
  b4f0722
- doc: math notation in `updatestate!`
  franckgaga
  committed
  0e787f8
- added: `NonLinMPC` and `SingleShooting` support `h=1`
  franckgaga
  committed
  06b7e83
- changed: re-implementing `f̂!` with FOH support
  franckgaga
  committed
  b259c87
- changed: idem
  franckgaga
  committed
  93337be
- changed: idem
  franckgaga
  committed
  cc130a1
- added: comment about `û0next` and `û0` aliasing
  franckgaga
  committed
  daff46a
- changed: avoid aliasing and apply `transcription.h`
  franckgaga
  committed
  cbd103f
- doc: `h` only applies to internal predictions in `SingleShooting`
  franckgaga
  committed
  de15ac3
- doc: idem
  franckgaga
  committed
  506782c
- changed: new `f̂!` signature in `ExtendedKalmanFilter`
  franckgaga
  committed
  b60ee5c
- debug: correct signature for `h!`
  franckgaga
  committed
  a030b07
- changed: new `f!` signature for `InternalModel`
  franckgaga
  committed
  10d9f5e
- changed: new `f!` signature for linearization
  franckgaga
  committed
  93d2651
Commits on Oct 29, 2026
- changed: idem
  franckgaga
  committed
  4886eb0
Commits on Oct 31, 2026
- added: `MovingHorizonEstimator` with `SingleShooting` support `h=1`
  franckgaga
  committed
  8775e21
- removed: useless comment
  franckgaga
  committed
  dfb1e14
- test: update `SimModel` tests
  franckgaga
  committed
  3ee8533
- debug: `ExtendedKalmanFilter` argument order in Jacobian
  franckgaga
  committed
  9ee3510
- changed: using buffers for D horizons
  franckgaga
  committed
  a746642
- debug: MHE measured dist. exception for `k+1`
  franckgaga
  committed
  6a4c0cf
- test: looser tolerance for MHE vs KF
  franckgaga
  committed
  7792ec9
- test: revert tolerances and remove the effect of `d`
  franckgaga
  committed
  2a2f275
- doc: `FOH` meas. disturbance in pH neutralization example
  franckgaga
  committed
  98ad8e0
Commits on Nov 1, 2026
- test: debug test
  franckgaga
  committed
  d66fd0a
- doc: minor correction
  franckgaga
  committed
  179ce6a
- test: call `updatestate!` with `unext` kwarg
  franckgaga
  committed
  abacf34
- test: new `SingleShooting(1)` and `MultipleShooting(1)` tests
  franckgaga
  committed
  cc0835a
Commits on Nov 2, 2026
- debug: do not use `buffer.x̂` in `getinfo(mhe)`
  franckgaga
  committed
  da34cdb
- test: debug variable name clash
  franckgaga
  committed
  db678f4
- debug: do not use `buffer.x` in `getinfo(model)`
  franckgaga
  committed
  6cf8ab2
- test: avoid clashes on `Ts` variable name
  franckgaga
  committed
  4979478
- bench: `updatestate!` on the pendulum
  franckgaga
  committed
  917db63
- bench: cleanup
  franckgaga
  committed
  698e31d
- bench: cleanup 2
  franckgaga
  committed
  e0d56aa
- added: special path for ZOH in `RungeKutta`
  franckgaga
  committed
  287433f
Commits on Nov 3, 2026
- added: remove `Ûi` allocation in `NonLinMPC`
  franckgaga
  committed
  112ceff
- added: remove `Ûi` allocation in `MovingHorizonEstimator`
  franckgaga
  committed
  546a984
- debug: forgotten `Ûi` cache
  franckgaga
  committed
  3594ae8
- debug: idem
  franckgaga
  committed
  a926be1
- debug: idem
  franckgaga
  committed
  6966f88
- debug: `InternalModel` with `SingleShooting` now work
  franckgaga
  committed
  710a6e3
- debug: rename eq. const. to `con_nonlinroots!` in `NonLinModelDAE`
  franckgaga
  committed
  2ce9c89

Commits

Commits on Oct 22, 2026

Commits on Oct 24, 2026

Commits on Oct 25, 2026

Commits on Oct 28, 2026

Commits on Oct 29, 2026

Commits on Oct 31, 2026

Commits on Nov 1, 2026

Commits on Nov 2, 2026

Commits on Nov 3, 2026