From 47e531c65bd5f0e13e2ada35dc146add079939af Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Tue, 23 Jun 2026 17:04:21 -0400
Subject: [PATCH] test: improve coverage of `LinMPC` constraint violation

---
 test/3_test_predictive_control.jl | 119 +++++++++++++++++-------------
 1 file changed, 68 insertions(+), 51 deletions(-)

diff --git a/test/3_test_predictive_control.jl b/test/3_test_predictive_control.jl
index bd0488513..d9c590d99 100644
--- a/test/3_test_predictive_control.jl
+++ b/test/3_test_predictive_control.jl
@@ -391,60 +391,77 @@ end
 @testitem "LinMPC constraint violation" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     model = LinModel(tf([2], [10, 1]), 3.0)
-    mpc = LinMPC(model, Hp=50, Hc=5)
+    mpc_soft = LinMPC(model, Hp=50, Hc=5, Cwt=1e5)
 
-    setconstraint!(mpc, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
-    setconstraint!(mpc, umin=[-10], umax=[10])
-    setconstraint!(mpc, Δumin=[-15], Δumax=[15])
-    setconstraint!(mpc, ymin=[-100], ymax=[100])
-    preparestate!(mpc, [0])
-
-    setconstraint!(mpc, umin=[-3], umax=[4])
-    moveinput!(mpc, [-100])
-    info = getinfo(mpc)
-    @test all(isapprox.(info[:U], -3; atol=1e-1))
-    moveinput!(mpc, [100])
-    info = getinfo(mpc)
-    @test all(isapprox.(info[:U], 4; atol=1e-1))
-    setconstraint!(mpc, umin=[-10], umax=[10])
-
-    setconstraint!(mpc, Δumin=[-1.5], Δumax=[1.25])
-    moveinput!(mpc, [-100])
-    info = getinfo(mpc)
-    @test all(isapprox.(info[:ΔU], -1.5; atol=1e-1))
-    moveinput!(mpc, [100])
-    info = getinfo(mpc)
-    @test all(isapprox.(info[:ΔU], 1.25; atol=1e-1))
-    setconstraint!(mpc, Δumin=[-15], Δumax=[15])
-
-    setconstraint!(mpc, ymin=[-0.5], ymax=[0.9])
-    moveinput!(mpc, [-100])
-    info = getinfo(mpc)
-    @test all(isapprox.(info[:Ŷ], -0.5; atol=1e-1))
-    moveinput!(mpc, [100])
-    info = getinfo(mpc)
-    @test all(isapprox.(info[:Ŷ], 0.9; atol=1e-1))
-    setconstraint!(mpc, ymin=[-100], ymax=[100])
+    setconstraint!(mpc_soft, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
+    setconstraint!(mpc_soft, umin=[-10], umax=[10])
+    setconstraint!(mpc_soft, Δumin=[-15], Δumax=[15])
+    setconstraint!(mpc_soft, ymin=[-100], ymax=[100])
+    
+    setconstraint!(mpc_soft, c_x̂min=[1,1], c_x̂max=[1,1])
+    setconstraint!(mpc_soft, c_umin=[0.1], c_umax=[0.1])
+    setconstraint!(mpc_soft, c_Δumin=[0.1], c_Δumax=[0.1])
+    setconstraint!(mpc_soft, c_ymin=[1], c_ymax=[1])
 
-    setconstraint!(mpc, Ymin=[-0.5; fill(-100, 49)], Ymax=[0.9; fill(+100, 49)])
-    moveinput!(mpc, [-10])
-    info = getinfo(mpc)
-    @test info[:Ŷ][begin] ≈ -0.5 atol=1e-1
-    @test info[:Ŷ][end]   ≈ -10  atol=1e-1
-    moveinput!(mpc, [10])
-    info = getinfo(mpc)
-    @test info[:Ŷ][begin] ≈ 0.9 atol=1e-1
-    @test info[:Ŷ][end]   ≈ 10  atol=1e-1
-    setconstraint!(mpc, ymin=[-100], ymax=[100])
+    mpc_hard = LinMPC(model, Hp=50, Hc=5, Cwt=Inf)
 
-    setconstraint!(mpc, x̂min=[-1e-6,-Inf], x̂max=[+1e-6,+Inf])
-    moveinput!(mpc, [-100])
-    info = getinfo(mpc)
-    @test info[:x̂end][1] ≈ 0 atol=1e-1
-    moveinput!(mpc, [100])
-    info = getinfo(mpc)
-    @test info[:x̂end][1] ≈ 0 atol=1e-1
-    setconstraint!(mpc, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
+    setconstraint!(mpc_hard, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
+    setconstraint!(mpc_hard, umin=[-10], umax=[10])
+    setconstraint!(mpc_hard, Δumin=[-15], Δumax=[15])
+    setconstraint!(mpc_hard, ymin=[-100], ymax=[100])
+    
+    function test_bound_violation(mpc)
+        preparestate!(mpc, [0])
+
+        setconstraint!(mpc, umin=[-3], umax=[4])
+        moveinput!(mpc, [-100])
+        info = getinfo(mpc)
+        @test all(isapprox.(info[:U], -3; atol=1e-1))
+        moveinput!(mpc, [100])
+        info = getinfo(mpc)
+        @test all(isapprox.(info[:U], 4; atol=1e-1))
+        setconstraint!(mpc, umin=[-10], umax=[10])
+
+        setconstraint!(mpc, Δumin=[-1.5], Δumax=[1.25])
+        moveinput!(mpc, [-100])
+        info = getinfo(mpc)
+        @test all(isapprox.(info[:ΔU], -1.5; atol=1e-1))
+        moveinput!(mpc, [100])
+        info = getinfo(mpc)
+        @test all(isapprox.(info[:ΔU], 1.25; atol=1e-1))
+        setconstraint!(mpc, Δumin=[-15], Δumax=[15])
+
+        setconstraint!(mpc, ymin=[-0.5], ymax=[0.9])
+        moveinput!(mpc, [-100])
+        info = getinfo(mpc)
+        @test all(isapprox.(info[:Ŷ], -0.5; atol=1e-1))
+        moveinput!(mpc, [100])
+        info = getinfo(mpc)
+        @test all(isapprox.(info[:Ŷ], 0.9; atol=1e-1))
+        setconstraint!(mpc, ymin=[-100], ymax=[100])
+
+        setconstraint!(mpc, Ymin=[-0.5; fill(-100, 49)], Ymax=[0.9; fill(+100, 49)])
+        moveinput!(mpc, [-10])
+        info = getinfo(mpc)
+        @test info[:Ŷ][begin] ≈ -0.5 atol=1e-1
+        @test info[:Ŷ][end]   ≈ -10  atol=1e-1
+        moveinput!(mpc, [10])
+        info = getinfo(mpc)
+        @test info[:Ŷ][begin] ≈ 0.9 atol=1e-1
+        @test info[:Ŷ][end]   ≈ 10  atol=1e-1
+        setconstraint!(mpc, ymin=[-100], ymax=[100])
+
+        setconstraint!(mpc, x̂min=[-1e-6,-Inf], x̂max=[+1e-6,+Inf])
+        moveinput!(mpc, [-100])
+        info = getinfo(mpc)
+        @test info[:x̂end][1] ≈ 0 atol=1e-1
+        moveinput!(mpc, [100])
+        info = getinfo(mpc)
+        @test info[:x̂end][1] ≈ 0 atol=1e-1
+        setconstraint!(mpc, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
+    end
+    test_bound_violation(mpc_soft)
+    test_bound_violation(mpc_hard)
 
     model2 = LinModel([tf([2], [10, 1]) tf(0.1, [7, 1])], 3.0, i_d=[2])
     model2 = setop!(model2, uop=[25], dop=[30], yop=[50])