minor doc correction

Author: franckgaga

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "0.9.1"
+version = "0.10.0"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"

README.md

@@ -83,12 +83,12 @@ for more detailed examples.
   - [x] move suppression
   - [x] input setpoint tracking
   - [x] economic costs (economic model predictive control)
-  - [ ] terminal cost to ensure nominal stability
 - [x] explicit predictive controller for problems without constraint
 - [x] soft and hard constraints on:
   - [x] output predictions
   - [x] manipulated inputs
   - [x] manipulated inputs increments
+  - [x] terminal states to ensure nominal stability
 - [ ] custom manipulated input constraints that are a function of the predictions
 - [x] supported feedback strategy:
   - [x] state estimator (see State Estimation features)

src/predictive_control.jl

@@ -386,19 +386,19 @@ Get additional information about `mpc` controller optimum to ease troubleshootin
 The function should be called after calling [`moveinput!`](@ref). It returns the dictionary
 `info` with the following fields:
 
-- `:ΔU`  : optimal manipulated input increments over `Hc` ``(\mathbf{ΔU})``
-- `:ϵ`   : optimal slack variable ``(ϵ)``
-- `:J`   : objective value optimum ``(J)``
-- `:U`   : optimal manipulated inputs over `Hp` ``(\mathbf{U})``
-- `:u`   : current optimal manipulated input ``(\mathbf{u})``
-- `:d`   : current measured disturbance ``(\mathbf{d})``
-- `:D̂`   : predicted measured disturbances over `Hp` ``(\mathbf{D̂})``
-- `:ŷ`   : current estimated output ``(\mathbf{ŷ})``
-- `:Ŷ`   : optimal predicted outputs over `Hp` ``(\mathbf{Ŷ})``
-- `:x̂end`: optimal terminal states ``(\mathbf{x̂}_{k-1}(k+H_p))``
-- `:Ŷs`  : predicted stochastic output over `Hp` of [`InternalModel`](@ref) ``(\mathbf{Ŷ_s})``
-- `:R̂y`  : predicted output setpoint over `Hp` ``(\mathbf{R̂_y})``
-- `:R̂u`  : predicted manipulated input setpoint over `Hp` ``(\mathbf{R̂_u})``
+- `:ΔU`  : optimal manipulated input increments over `Hc`, ``\mathbf{ΔU}``.
+- `:ϵ`   : optimal slack variable, ``ϵ``.
+- `:J`   : objective value optimum, ``J``.
+- `:U`   : optimal manipulated inputs over `Hp`, ``\mathbf{U}``.
+- `:u`   : current optimal manipulated input, ``\mathbf{u}``.
+- `:d`   : current measured disturbance, ``\mathbf{d}``.
+- `:D̂`   : predicted measured disturbances over `Hp`, ``\mathbf{D̂}``.
+- `:ŷ`   : current estimated output, ``\mathbf{ŷ}``.
+- `:Ŷ`   : optimal predicted outputs over `Hp`, ``\mathbf{Ŷ}``.
+- `:x̂end`: optimal terminal states, ``\mathbf{x̂}_{k-1}(k+H_p)``.
+- `:Ŷs`  : predicted stochastic output over `Hp` of [`InternalModel`](@ref), ``\mathbf{Ŷ_s}``.
+- `:R̂y`  : predicted output setpoint over `Hp`, ``\mathbf{R̂_y}``.
+- `:R̂u`  : predicted manipulated input setpoint over `Hp`, ``\mathbf{R̂_u}``.
 
 For [`LinMPC`](@ref) and [`NonLinMPC`](@ref), the field `:sol` also contains the optimizer
 solution summary that can be printed. Lastly, the optimal economic cost `:JE` is also