From fa386acd93a6dbf54a4c8d2f348ee7179f7545af Mon Sep 17 00:00:00 2001 From: franckgaga Date: Sun, 2 Feb 2025 17:20:21 -0500 Subject: [PATCH] starting `init_predmat` modifications for multiple shooting --- src/controller/construct.jl | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/controller/construct.jl b/src/controller/construct.jl index b6fec0e3..3c7b6955 100644 --- a/src/controller/construct.jl +++ b/src/controller/construct.jl @@ -515,10 +515,10 @@ Construct the prediction matrices for [`LinModel`](@ref) `model`. The model predictions are evaluated from the deviation vectors (see [`setop!`](@ref)) and: ```math \begin{aligned} - \mathbf{Ŷ_0} &= \mathbf{E ΔU} + \mathbf{G d_0}(k) + \mathbf{J D̂_0} - + \mathbf{K x̂_0}(k) + \mathbf{V u_0}(k-1) - + \mathbf{B} + \mathbf{Ŷ_s} \\ - &= \mathbf{E ΔU} + \mathbf{F} + \mathbf{Ŷ_0} &= \mathbf{E Z} + \mathbf{G d_0}(k) + \mathbf{J D̂_0} + + \mathbf{K x̂_0}(k) + \mathbf{V u_0}(k-1) + + \mathbf{B} + \mathbf{Ŷ_s} \\ + &= \mathbf{E Z} + \mathbf{F} \end{aligned} ``` in which ``\mathbf{x̂_0}(k) = \mathbf{x̂}_i(k) - \mathbf{x̂_{op}}``, with ``i = k`` if @@ -533,10 +533,10 @@ stochastic predictions ``\mathbf{Ŷ_s=0}`` if `estim` is not a [`InternalModel` terminal states at ``k+H_p``: ```math \begin{aligned} - \mathbf{x̂_0}(k+H_p) &= \mathbf{e_x̂ ΔU} + \mathbf{g_x̂ d_0}(k) + \mathbf{j_x̂ D̂_0} + \mathbf{x̂_0}(k+H_p) &= \mathbf{e_x̂ Z} + \mathbf{g_x̂ d_0}(k) + \mathbf{j_x̂ D̂_0} + \mathbf{k_x̂ x̂_0}(k) + \mathbf{v_x̂ u_0}(k-1) + \mathbf{b_x̂} \\ - &= \mathbf{e_x̂ ΔU} + \mathbf{f_x̂} + &= \mathbf{e_x̂ Z} + \mathbf{f_x̂} \end{aligned} ``` The matrices ``\mathbf{E, G, J, K, V, B, e_x̂, g_x̂, j_x̂, k_x̂, v_x̂, b_x̂}`` are defined in the