v0.8.2

LinearMPC v0.8.2

Diff since v0.8.1

Merged pull requests:

• Improve docs (#82) (@darnstrom)

Closed issues:

• The package no longer work on Julia LTS because of PrecompileTools compat (#80)

v0.8.1

LinearMPC v0.8.1

Diff since v0.8.0

Merged pull requests:

• Add Julia 1.10 in test (#81) (@darnstrom)

v0.8.0

LinearMPC v0.8.0

Diff since v0.7.0

Breaking changes

• plot_region and plot_feedback is replaced by plot (using recipes for Plots.jl)
• Extra argument for disturbance in generate C code for observer

Merged pull requests:

• Account for uncertainty in the current state (#31) (@darnstrom)
• Add constant offset in dynamics (#32) (@darnstrom)
• Add option for first-order hold move blocking (#33) (@darnstrom)
• Add true_dynamics in Model (#34) (@darnstrom)
• Improve support for setting/changing operating points (#35) (@darnstrom)
• Improve simulation (#36) (@darnstrom)
• Add binary control horizon (#38) (@darnstrom)
• add support for time-varying linear input cost trajectory (#39) (@baggepinnen)
• add instructions on how to change solver settings (#40) (@baggepinnen)
• Improve type stability and reduce allocations (#41) (@baggepinnen)
• Add MPQP struct (#43) (@darnstrom)
• Fix warm start in generated code (#44) (@darnstrom)
• Correctly handle move blocking when there are no bounds on controls (#51) (@darnstrom)
• Avoid terminal constraints from being ignored (#52) (@darnstrom)
• Correctly get # of simple bounds (#53) (@darnstrom)
• Split controlled outputs y and measurements ym (#54) (@darnstrom)
• Fix satellite and ball/plate examples (#57) (@darnstrom)
• Add preprocessing of MPQP to remove zero rows, remove duplicate rows,… (#61) (@darnstrom)
• Cleanup mpc2mpqp (#62) (@darnstrom)
• Rename offset -> f_offset, and introduce h_offset (#63) (@darnstrom)
• Add support for different move blocks for different controls (#64) (@darnstrom)
• fix typos for set_prestabilizing_feedback! (#66) (@baggepinnen)
• Correctly handle reference preview + prestabilizing feedback (#67) (@darnstrom)
• Fix empty keep in move blocks (#70) (@darnstrom)
• Fix sign error for h_offset (#71) (@darnstrom)
• Kalman filter support for known disturbance d (#72) (@franckgaga)
• Update plotting for explicit and certification (#73) (@darnstrom)
• Add support for game-theoretic objective (#74) (@darnstrom)
• Add TagBot (#75) (@darnstrom)
• Remove some cats in create_objective (#76) (@darnstrom)
• Add precompile for setup (#77) (@darnstrom)
• Add preamble in codegen (#78) (@darnstrom)

Closed issues:

• Handling of uprev when using delta_u penalty (#14)
• "Integer horizon" (#37)
• Cannot simulate MPCs with state observers when not all controlled ouputs are measured (#45)
• Support measured output operating points (#46)
• add_constraint! does not work if ks contains 0 (#47)
• add_constraint! does not work if ks contains a 0 (#48)
• Cannot bounds the inputs u pass the control horizon Nc (#49)
• Cannot simulate with move blocking. (#50)
• Weird results with move blocking + inspect inputs u and outputs y over horizon (#55)
• Preprocess the generated MPQP (#58)
• prestabilizing feedback + reference preview errors (#65)
• bounds error in sort constraints (#68)

v0.7.3

LinearMPC v0.7.3

Diff since v0.7.0

Merged pull requests:

• Account for uncertainty in the current state (#31) (@darnstrom)
• Add constant offset in dynamics (#32) (@darnstrom)
• Add option for first-order hold move blocking (#33) (@darnstrom)
• Add true_dynamics in Model (#34) (@darnstrom)
• Improve support for setting/changing operating points (#35) (@darnstrom)
• Add binary control horizon (#38) (@darnstrom)
• add support for time-varying linear input cost trajectory (#39) (@baggepinnen)
• add instructions on how to change solver settings (#40) (@baggepinnen)
• Improve type stability and reduce allocations (#41) (@baggepinnen)
• Add MPQP struct (#43) (@darnstrom)
• Fix warm start in generated code (#44) (@darnstrom)
• Correctly handle move blocking when there are no bounds on controls (#51) (@darnstrom)
• Avoid terminal constraints from being ignored (#52) (@darnstrom)
• Correctly get # of simple bounds (#53) (@darnstrom)
• Split controlled outputs y and measurements ym (#54) (@darnstrom)

Closed issues:

• Handling of uprev when using delta_u penalty (#14)
• "Integer horizon" (#37)
• Cannot simulate MPCs with state observers when not all controlled ouputs are measured (#45)
• add_constraint! does not work if ks contains 0 (#47)
• add_constraint! does not work if ks contains a 0 (#48)
• Cannot simulate with move blocking. (#50)

v0.7.2

LinearMPC v0.7.2

Diff since v0.7.0

Merged pull requests:

• Account for uncertainty in the current state (#31) (@darnstrom)
• Add constant offset in dynamics (#32) (@darnstrom)
• Add option for first-order hold move blocking (#33) (@darnstrom)
• Add true_dynamics in Model (#34) (@darnstrom)
• Improve support for setting/changing operating points (#35) (@darnstrom)

v0.7.1

LinearMPC v0.7.1

Diff since v0.7.0

Merged pull requests:

• Account for uncertainty in the current state (#31) (@darnstrom)
• Add constant offset in dynamics (#32) (@darnstrom)
• Add option for first-order hold move blocking (#33) (@darnstrom)
• Add true_dynamics in Model (#34) (@darnstrom)

v0.6.1

LinearMPC v0.6.1

Diff since v0.5.0

This release has been identified as a backport.
Automated changelogs for backports tend to be wildly incorrect.
Therefore, the list of issues and pull requests is hidden.

v0.6.0

LinearMPC v0.6.0

Diff since v0.5.0

This release has been identified as a backport.
Automated changelogs for backports tend to be wildly incorrect.
Therefore, the list of issues and pull requests is hidden.

v0.5.1

LinearMPC v0.5.1

Diff since v0.5.0

This release has been identified as a backport.
Automated changelogs for backports tend to be wildly incorrect.
Therefore, the list of issues and pull requests is hidden.

v0.4.4

LinearMPC v0.4.4

Diff since v0.4.2

This release has been identified as a backport.
Automated changelogs for backports tend to be wildly incorrect.
Therefore, the list of issues and pull requests is hidden.