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franckgaga merged 1 commit into from
Jun 23, 2026
Merged

test: improve coverage of predictive controller constraint violation #388

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119 changes: 68 additions & 51 deletions test/3_test_predictive_control.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -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])
Expand Down