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franckgaga merged 2 commits into from
Jan 19, 2026
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doc: minor corrections #309

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doc: minor corrections
franckgaga Jan 19, 2026
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doc: details on soft constraint conversion
franckgaga Jan 19, 2026
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2 changes: 1 addition & 1 deletion docs/src/public/sim_model.md
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Expand Up @@ -14,7 +14,7 @@ method to manually modify them.
!!! info
The nomenclature in this page introduces the model manipulated input ``\mathbf{u}``,
measured disturbances ``\mathbf{d}``, state ``\mathbf{x}`` and output ``\mathbf{y}``,
four vectors of `nu`, `nd`, `nx` and `ny` elements, respectively. The ``\mathbf{z}``
four vectors of `nu`, `nd`, `nx` and `ny` elements, respectively. The ``\mathbf{s}``
vector combines the elements of ``\mathbf{u}`` and ``\mathbf{d}``.

## SimModel
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5 changes: 3 additions & 2 deletions ext/LinearMPCext.jl
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Expand Up @@ -212,7 +212,7 @@ end
Convert a `ModelPredictiveControl.LinMPC` object to a `LinearMPC.MPC` object.

The `LinearMPC` package needs to be installed and available in the activated Julia
environment. The converted object can be used to generate lightweight C-code for embedded
environment. The converted object can be used to generate lightweight C code for embedded
applications using the `LinearMPC.codegen` function. Note that not all features of [`LinMPC`](@ref)
are supported, including these restrictions:

Expand All @@ -221,7 +221,8 @@ are supported, including these restrictions:
- the state estimator must be a [`SteadyKalmanFilter`](@ref) with `direct=true`.
- only block-diagonal weights are allowed.
- the constraint relaxation mechanism is different, so a 1-on-1 conversion of the soft
constraints is impossible (use `Cwt=Inf` to disable relaxation).
constraints is impossible; expect differences in closed-loop behavior near the soft
bounds (or use `Cwt=Inf` to disable relaxation)

But the package has also several exclusive functionalities, such as pre-stabilization,
constrained explicit MPC, and binary manipulated inputs. See the [`LinearMPC.jl`](@extref LinearMPC)
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