v1.8.1

ModelPredictiveControl v1.8.1

Diff since v1.8.0

• added: new KalmanCovariance parametric struct to handle covariance sparsity efficiently
• added: dispatch on repeatdiag to preserve Diagonnals
• added: in-place and allocation-free inv! for MHE covariance matrices
• changed: store P̃Δu, P̃u and Tu conversion matrices as SparseMatrixCSC
• debug: support Hermitian weights in PredictiveController
• debug: use dummy b vector in MHE setmodel! to avoid ±Inf values
• test: verify setmodel! with He>1 for MHE
• test: new integration with ManualEstimator and MPCs
• doc: various improvements

Merged pull requests:

• new ManualEstimator tests and minor doc corrections (#210) (@franckgaga)
• doc : minor clarifications (#211) (@franckgaga)
• Changed: store conversion matrices as SparseMatrixCSC (#212) (@franckgaga)
• added: inv! for MovingHorizonEstimator covariance matrices (#214) (@franckgaga)
• debug: support Hermitian weights in PredictiveController (#215) (@franckgaga)
• added: new KalmanCovariance struct to handle covariance sparsity efficiently (#216) (@franckgaga)