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)

v1.16.3

ModelPredictiveControl v1.16.3

Diff since v1.16.2

Merged pull requests:

• test: re-enable all tests (#319) (@franckgaga)
• debug: InternalModel with TrapezoidalCollocation now works (#321) (@franckgaga)

v1.16.2

ModelPredictiveControl v1.16.2

Diff since v1.16.1

Merged pull requests:

• bench: re-enabling Uno solver (#316) (@franckgaga)
• added: custom linear constraint vector W in getinfo dict. (#317) (@franckgaga)
• debug: avoid duplicate precompile macros (#318) (@franckgaga)

v1.16.1

ModelPredictiveControl v1.16.1

Diff since v1.16.0

📟️ added: C codegen support for custom linear constraints (now for real 😆)

Merged pull requests:

• added: C codegen support for LinMPC custom linear inequality constraints (#315) (@franckgaga)

v1.16.0

ModelPredictiveControl v1.16.0

Diff since v1.15.0

🔥added: custom linear equality constraints for LinMPC and NonLinMPC.

Merged pull requests:

• doc: minor corrections (#309) (@franckgaga)
• added: custom linear inequality constraints for LinMPC and NonLinMPC (#310) (@franckgaga)
• added: slightly improve the speed of precompilation (#311) (@franckgaga)
• bench: commenting out Uno (#312) (@franckgaga)
• added: Dependabot for Julia (#313) (@franckgaga)
• Update version to 1.16.0 in Project.toml (#314) (@franckgaga)

v1.15.0

ModelPredictiveControl v1.15.0

Diff since v1.14.4

• added: C code generation via LinearMPC.jl 🚀
• doc: various improvement in the manual and function sections
• test: new closed-loop tests with LinMPC converted to LinearMPC.MPC

Merged pull requests:

• doc and test: minor modifications (#302) (@franckgaga)
• doc and test: clearer jℓ notation and comparing ExplicitMPC to others move-blocked controllers (#303) (@franckgaga)
• Revise README features section with emojis (#304) (@franckgaga)
• doc: minor README change (#305) (@franckgaga)
• Enhance README.md with emoji section headers (#306) (@franckgaga)
• 🚀 added: C code generation via LinearMPC.jl (#307) (@franckgaga)
• changed: loosened argument type for vectors in API (#308) (@franckgaga)

Closed issues:

• Code generation (#124)