added: multiple shooting transcription for LinMPC and NonLinMPC

Project.toml

@@ -1,35 +1,37 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "1.3.5"
+version = "1.4.0"
 
 [deps]
+LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+Logging = "56ddb016-857b-54e1-b83d-db4d58db5568"
+Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
 JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
-LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 OSQP = "ab2f91bb-94b4-55e3-9ba0-7f65df51de79"
 PreallocationTools = "d236fae5-4411-538c-8e31-a6e3d9e00b46"
 PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
 ProgressLogging = "33c8b6b6-d38a-422a-b730-caa89a2f386c"
-Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 
 [compat]
+julia = "1.10"
+LinearAlgebra = "1.10"
+Logging = "1.10"
+Random = "1.10"
 ControlSystemsBase = "1.9"
 ForwardDiff = "0.10"
 Ipopt = "1"
 JuMP = "1.21"
-LinearAlgebra = "1.6"
 OSQP = "0.8"
 PreallocationTools = "0.4.14"
 PrecompileTools = "1"
 ProgressLogging = "0.1"
-Random = "1.6"
 RecipesBase = "1"
 TestItemRunner = "1.1"
-julia = "1.10"
 
 [extras]
 DAQP = "c47d62df-3981-49c8-9651-128b1cd08617"

docs/Project.toml

@@ -1,19 +1,19 @@
 [deps]
+LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+Logging = "56ddb016-857b-54e1-b83d-db4d58db5568"
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
 DAQP = "c47d62df-3981-49c8-9651-128b1cd08617"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
-LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
-Logging = "56ddb016-857b-54e1-b83d-db4d58db5568"
 ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 
 [compat]
+LinearAlgebra = "1.10"
+Logging = "1.10"
 ControlSystemsBase = "1"
-DAQP = "0.5"
 Documenter = "1"
 JuMP = "1"
-LinearAlgebra = "1.6"
-Logging = "1.6"
+DAQP = "0.6"
 Plots = "1"
 ModelingToolkit = "9.50"

docs/src/internals/predictive_control.md

@@ -12,27 +12,32 @@ The prediction methodology of this module is mainly based on Maciejowski textboo
 ## Controller Construction
 
 ```@docs
-ModelPredictiveControl.init_ΔUtoU
+ModelPredictiveControl.init_ZtoΔU   
+ModelPredictiveControl.init_ZtoU
 ModelPredictiveControl.init_predmat
+ModelPredictiveControl.init_defectmat
 ModelPredictiveControl.relaxU
 ModelPredictiveControl.relaxΔU
 ModelPredictiveControl.relaxŶ
 ModelPredictiveControl.relaxterminal
 ModelPredictiveControl.init_quadprog
 ModelPredictiveControl.init_stochpred
 ModelPredictiveControl.init_matconstraint_mpc
+ModelPredictiveControl.init_nonlincon!
 ```
 
 ## Update Quadratic Optimization
 
 ```@docs
 ModelPredictiveControl.initpred!(::PredictiveController, ::LinModel, ::Any, ::Any, ::Any, ::Any)
 ModelPredictiveControl.linconstraint!(::PredictiveController, ::LinModel)
+ModelPredictiveControl.linconstrainteq!
 ```
 
 ## Solve Optimization Problem
 
 ```@docs
 ModelPredictiveControl.optim_objective!(::PredictiveController)
+ModelPredictiveControl.set_warmstart!
 ModelPredictiveControl.getinput
 ```

docs/src/public/predictive_control.md

@@ -88,3 +88,23 @@ NonLinMPC
 ```@docs
 moveinput!
 ```
+
+## Direct Transcription Methods
+
+### TranscriptionMethod
+
+```@docs
+ModelPredictiveControl.TranscriptionMethod
+```
+
+### SingleShooting
+
+```@docs
+SingleShooting
+```
+
+### MultipleShooting
+
+```@docs
+MultipleShooting
+```

src/ModelPredictiveControl.jl

@@ -32,6 +32,7 @@ export SteadyKalmanFilter, KalmanFilter, UnscentedKalmanFilter, ExtendedKalmanFi
 export MovingHorizonEstimator
 export default_nint, initstate!
 export PredictiveController, ExplicitMPC, LinMPC, NonLinMPC, setconstraint!, moveinput!
+export SingleShooting, MultipleShooting
 export SimResult, getinfo, sim!
 
 include("general.jl")