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addded: multiple shooting transcription for LinMPC and NonLinMPC #155

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doc: transcription argument
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franckgaga committed Jan 20, 2025
commit 40570bf68a589c87157140e026107dca298416f7
2 changes: 2 additions & 0 deletions src/controller/nonlinmpc.jl
Original file line number Diff line number Diff line change
Expand Up @@ -169,6 +169,8 @@ This controller allocates memory at each time step for the optimization.
not (details in Extended Help).
- `nc=0` : number of custom inequality constraints.
- `p=model.p` : ``J_E`` and ``\mathbf{g_c}`` functions parameter ``\mathbf{p}`` (any type).
- `transcription=:singleshooting` : transcription method for the nonlinear optimization
problem, can be `:singleshooting`, `:multipleshoting` or `:directcollocation`.
- `optim=JuMP.Model(Ipopt.Optimizer)` : nonlinear optimizer used in the predictive
controller, provided as a [`JuMP.Model`](https://jump.dev/JuMP.jl/stable/api/JuMP/#JuMP.Model)
(default to [`Ipopt`](https://github.com/jump-dev/Ipopt.jl) optimizer).
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