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addded: multiple shooting transcription for LinMPC and NonLinMPC #155

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doc: change name function
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franckgaga committed Feb 6, 2025
commit c37e3d8433dee7e862d0127f860c5cbad26dc1ef
2 changes: 1 addition & 1 deletion docs/src/internals/predictive_control.md
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Expand Up @@ -12,7 +12,7 @@ The prediction methodology of this module is mainly based on Maciejowski textboo
## Controller Construction

```@docs
ModelPredictiveControl.init_ΔUtoU
ModelPredictiveControl.init_ZtoU
ModelPredictiveControl.init_predmat
ModelPredictiveControl.init_defectmat
ModelPredictiveControl.relaxU
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2 changes: 1 addition & 1 deletion src/controller/construct.jl
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Expand Up @@ -844,7 +844,7 @@ Augment manipulated inputs constraints with slack variable ϵ for softening.
Denoting the input increments augmented with the slack variable
``\mathbf{ΔŨ} = [\begin{smallmatrix} \mathbf{ΔU} \\ ϵ \end{smallmatrix}]``, it returns the
augmented conversion matrix ``\mathbf{S̃}``, similar to the one described at
[`init_ΔUtoU`](@ref). It also returns the ``\mathbf{A}`` matrices for the inequality
[`init_ZtoU`](@ref). It also returns the ``\mathbf{A}`` matrices for the inequality
constraints:
```math
\begin{bmatrix}
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