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debug: default terminal constraint softness parameters c_x̂min/max equal to 1 #299

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Merged
franckgaga merged 3 commits into from
Dec 18, 2025
Merged

debug: default terminal constraint softness parameters c_x̂min/max equal to 1 #299

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0d2a5ae
debug: terminal constraint softness to `1.0` by default
franckgaga Dec 18, 2025
c7efa1c
test: verifying default constraint parameters
franckgaga Dec 18, 2025
f0186d7
bump
franckgaga Dec 18, 2025
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2 changes: 1 addition & 1 deletion Project.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
name = "ModelPredictiveControl"
uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
version = "1.14.2"
version = "1.14.3"
authors = ["Francis Gagnon"]

[deps]
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4 changes: 2 additions & 2 deletions src/controller/construct.jl
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Expand Up @@ -661,8 +661,8 @@ function init_defaultcon_mpc(
x̂0min, x̂0max = fill(convert(NT,-Inf), nx̂), fill(convert(NT,+Inf), nx̂)
c_umin, c_umax = fill(zero(NT), nu), fill(zero(NT), nu)
c_Δumin, c_Δumax = fill(zero(NT), nu), fill(zero(NT), nu)
c_ymin, c_ymax = fill(one(NT), ny), fill(one(NT), ny)
c_x̂min, c_x̂max = fill(zero(NT), nx̂), fill(zero(NT), nx̂)
c_ymin, c_ymax = fill(one(NT), ny), fill(one(NT), ny)
c_x̂min, c_x̂max = fill(one(NT), nx̂), fill(one(NT), nx̂)
U0min, U0max, ΔUmin, ΔUmax, Y0min, Y0max =
repeat_constraints(Hp, Hc, u0min, u0max, Δumin, Δumax, y0min, y0max)
C_umin, C_umax, C_Δumin, C_Δumax, C_ymin, C_ymax =
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10 changes: 10 additions & 0 deletions test/3_test_predictive_control.jl
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Expand Up @@ -244,6 +244,16 @@ end
model = LinModel(sys, Ts, i_d=[3])
mpc = LinMPC(model, Hp=1, Hc=1)

# test default constraints before modifying any:
@test all((mpc.con.U0min, mpc.con.U0max) .≈ (fill(-Inf, model.nu), fill(Inf, model.nu)))
@test all((mpc.con.ΔŨmin, mpc.con.ΔŨmax) .≈ (vcat(fill(-Inf, model.nu), 0), vcat(fill(Inf, model.nu), Inf)))
@test all((mpc.con.Y0min, mpc.con.Y0max) .≈ (fill(-Inf, model.ny), fill(Inf, model.ny)))
@test all((mpc.con.x̂0min, mpc.con.x̂0max) .≈ (fill(-Inf, mpc.estim.nx̂), fill(Inf, mpc.estim.nx̂)))
@test all((-mpc.con.A_Umin[:, end], -mpc.con.A_Umax[:, end]) .≈ (fill(0.0, model.nu), fill(0.0, model.nu)))
@test all((-mpc.con.A_ΔŨmin[1:end-1, end], -mpc.con.A_ΔŨmax[1:end-1, end]) .≈ (fill(0.0, model.nu), fill(0.0, model.nu)))
@test all((-mpc.con.A_Ymin[:, end], -mpc.con.A_Ymax[:, end]) .≈ (fill(1.0, model.ny), fill(1.0, model.ny)))
@test all((-mpc.con.A_x̂min[:, end], -mpc.con.A_x̂max[:, end]) .≈ (fill(1.0, mpc.estim.nx̂), fill(1.0, mpc.estim.nx̂)))

setconstraint!(mpc, umin=[-5, -9.9], umax=[100,99])
@test all((mpc.con.U0min, mpc.con.U0max) .≈ ([-5, -9.9], [100,99]))
setconstraint!(mpc, Δumin=[-5,-10], Δumax=[6,11])
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