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)

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)

v1.4.4

ModelPredictiveControl v1.4.4

Diff since v1.4.3

Merged pull requests:

• Debug: ineq. constraint for NonLinModel and MultipleShooting (#178) (@franckgaga)

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)

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)

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)

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)

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)

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)

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)