debug tests terminal constraints LinMPC

Author: franckgaga

test/test_predictive_control.jl

@@ -154,44 +154,50 @@ end
     setconstraint!(mpc2, c_umin=[0], c_umax=[0], c_Δumin=[0], c_Δumax=[0], c_ymin=[1], c_ymax=[1])
 
 
+
+
+    setconstraint!(mpc2, x̂min=[-1e3,-Inf], x̂max=[1e3,+Inf])
+
+
+
+
     setconstraint!(mpc2, umin=[-3], umax=[3])
     setconstraint!(mpc2, Δumin=[-1.5], Δumax=[1.5])
     setconstraint!(mpc2, ymin=[-100], ymax=[100])
     moveinput!(mpc2, [-10])
     info = getinfo(mpc2)
-    @test info[:ΔU][begin] ≈ -1.5 atol=1e-2
-    @test info[:U][end] ≈ -3 atol=1e-2
+    @test info[:ΔU][begin] ≈ -1.5 atol=1e-1
+    @test info[:U][end] ≈ -3 atol=1e-1
 
 
     setconstraint!(mpc2, umin=[-10], umax=[10])
     setconstraint!(mpc2, Δumin=[-15], Δumax=[15])
     setconstraint!(mpc2, ymin=[-0.5], ymax=[0.5])
     moveinput!(mpc2, [-10])
     info = getinfo(mpc2)
-    @test info[:Ŷ][end] ≈ -0.5 atol=1e-2
+    @test info[:Ŷ][end] ≈ -0.5 atol=1e-1
 
 
     setconstraint!(mpc2, umin=[-10], umax=[10])
     setconstraint!(mpc2, Δumin=[-15], Δumax=[15])
     setconstraint!(mpc2, Ymin=[-0.5; fill(-100, 49)], Ymax=[0.5; fill(+100, 49)])
     moveinput!(mpc2, [-10])
     info = getinfo(mpc2)
-    @test info[:Ŷ][end]   ≈ -10  atol=1e-2
-    @test info[:Ŷ][begin] ≈ -0.5 atol=1e-2
+    @test info[:Ŷ][end]   ≈ -10  atol=1e-1
+    @test info[:Ŷ][begin] ≈ -0.5 atol=1e-1
 
 
 
 
 
 
-    setconstraint!(mpc2, umin=[-Inf], umax=[+Inf])
-    setconstriant!(mpc2, Δumin=[-Inf], Δumax=[+Inf])
-    setconstraint!(mpc2, ymin=[-Inf], ymax=[+Inf])
-    setconstraint!(mpc2, x̂min=[-1e-6], x̂max=[+1e-6])
-    moveinput!(mpc2, [+1000])
+    setconstraint!(mpc2, umin=[-1e3], umax=[+1e3])
+    setconstraint!(mpc2, Δumin=[-1e3], Δumax=[+1e3])
+    setconstraint!(mpc2, ymin=[-1e3], ymax=[+1e3])
+    setconstraint!(mpc2, x̂min=[-1e-6,-Inf], x̂max=[+1e-6,+Inf])
+    moveinput!(mpc2, [-10])
     info = getinfo(mpc2)
-    @test info[:x̂end] ≈ 0 atol=1e-5
-
+    @test info[:x̂end][1] ≈ 0 atol=1e-1
 
 
 
@@ -223,7 +229,6 @@ end
     @test_throws ArgumentError setconstraint!(mpc3, c_ymax=[1, 1])
 end
 
-#=
 @testset "ExplicitMPC construction" begin
     model = LinModel(sys, Ts, i_d=[3])
     mpc1 = ExplicitMPC(model, Hp=15)
@@ -517,4 +522,3 @@ end
     @test info[:Ŷ][begin] ≈ -0.5 atol=1e-2
 
 end
-=#