test : wip

Author: franckgaga

test/3_test_predictive_control.jl

@@ -799,6 +799,17 @@ end
     # execute update_predictions! branch in `geqfunc_i` for coverage:
     geq_end = nmpc5.optim[:geq_2].func
     @test_nowarn geq_end(5.0, 4.0, 3.0, 2.0)
+
+    f! = (ẋ,x,u,_,_) -> ẋ .= -0.001x .+ u 
+    h! = (y,x,_,_) -> y .= x 
+    nonlinmodel_c = NonLinModel(f!, h!, 100, 1, 1, 1)
+    nmpc5 = NonLinMPC(nonlinmodel_c, Nwt=[0], Hp=100, Hc=1, transcription=TrapezoidalCollocation())
+    preparestate!(nmpc5, [0.0])
+    u = moveinput!(nmpc5, [1/0.001])
+    #@test u ≈ [1.0] atol=5e-2
+    println(u)
+    using Plots; plot(sim!(nmpc5, 100, [1/0.001])) |> display
+
     nmpc6  = NonLinMPC(linmodel3, Hp=10)
     preparestate!(nmpc6, [0])
     @test moveinput!(nmpc6, [0]) ≈ [0.0] atol=5e-2