doc: various cleanup in the manual + removed CompatHelper

.github/dependabot.yml

@@ -1,15 +1,11 @@
 # https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
 version: 2
 updates:
-  - package-ecosystem: "github-actions"
-    directory: "/" # Location of package manifests
-    schedule:
-      interval: "weekly"
   - package-ecosystem: "julia"
-    directory: "/"
+    directories: # Location of Julia projects
+      - "/"
+      - "/docs"
+      - "/test"
+      - "/benchmark"
     schedule:
-      interval: "weekly"
-    # groups: # uncomment to group all julia package updates into a single PR
-    #   all-julia-packages:
-    #     patterns:
-    #       - "*"
+      interval: "weekly"

Project.toml

@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "2.15.0"
+version = "2.15.1"
 authors = ["Francis Gagnon"]
 
 [deps]

docs/src/manual/mtk.md

@@ -4,11 +4,6 @@
 Pages = ["mtk.md"]
 ```
 
-```@setup 1
-using Logging; errlogger = ConsoleLogger(stderr, Error);
-old_logger = global_logger(); global_logger(errlogger);
-```
-
 ## Pendulum Model
 
 This example integrates the simple pendulum model of the [penultimate section](@ref man_nonlin)
@@ -150,27 +145,30 @@ The 180° setpoint response is identical:
 using Plots
 N = 35
 using JuMP; unset_time_limit_sec(nmpc.optim) # hide
+using Logging # hide
+res_ry = with_logger(ConsoleLogger(stderr, Error)) do # hide
 res_ry = sim!(nmpc, N, [180.0], plant=plant, x_0=[0, 0], x̂_0=[0, 0, 0])
-plot(res_ry)
-savefig("plot1_MTK.svg"); nothing # hide
+end #
+p = plot(res_ry)
+savefig(p, "plot1_MTK.svg") # hide
+display(p) # hide
 ```
 
 ![plot1_MTK](plot1_MTK.svg)
 
 and also the output disturbance rejection:
 
 ```@example 1
+res_yd = with_logger(ConsoleLogger(stderr, Error)) do # hide
 res_yd = sim!(nmpc, N, [180.0], plant=plant, x_0=[0, π], x̂_0=[0, π, 0], y_step=[10])
-plot(res_yd)
-savefig("plot2_MTK.svg"); nothing # hide
+end # hide
+p = plot(res_yd)
+savefig(p, "plot2_MTK.svg") # hide
+display(p) # hide
 ```
 
 ![plot2_MTK](plot2_MTK.svg)
 
 ## Acknowledgement
 
 Authored by `1-Bart-1` and `baggepinnen`, thanks for the contribution.
-
-```@setup 1
-global_logger(old_logger);
-```

docs/src/manual/nonlinmpc1.md

@@ -73,8 +73,9 @@ using Plots
 u = [0.5]
 N = 35
 res = sim!(model, N, u)
-plot(res, plotu=false)
-savefig("plot1_NonLinMPC.svg"); nothing # hide
+p = plot(res, plotu=false)
+savefig(p, "plot1_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot1_NonLinMPC](plot1_NonLinMPC.svg)
@@ -103,9 +104,11 @@ estimator tuning is tested on a plant with a 25 % larger friction coefficient ``
 p_plant = copy(p_model)
 p_plant[3] = 1.25*p_model[3]
 plant = setname!(NonLinModel(f, h, Ts, nu, nx, ny; p=p_plant); u=vu, x=vx, y=vy)
+using Random; Random.seed!(2944) # hide
 res = sim!(estim, N, [0.5], plant=plant, y_noise=[0.5])
-plot(res, plotu=false, plotxwithx̂=true)
-savefig("plot2_NonLinMPC.svg"); nothing # hide
+p = plot(res, plotu=false, plotxwithx̂=true)
+savefig(p, "plot2_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot2_NonLinMPC](plot2_NonLinMPC.svg)
@@ -132,8 +135,9 @@ The option `Cwt=Inf` disables the slack variable `ϵ` for constraint softening.
 using JuMP; unset_time_limit_sec(nmpc.optim) # hide
 ry = [180.0]
 res_ry = sim!(nmpc, N, ry, plant=plant, x_0=[0, 0], x̂_0=[0, 0, 0])
-plot(res_ry)
-savefig("plot3_NonLinMPC.svg"); nothing # hide
+p = plot(res_ry)
+savefig(p, "plot3_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot3_NonLinMPC](plot3_NonLinMPC.svg)
@@ -144,8 +148,9 @@ satisfactory:
 
 ```@example man_nonlin
 res_yd = sim!(nmpc, N, ry, plant=plant, x_0=[π, 0], x̂_0=[π, 0, 0], y_step=[10])
-plot(res_yd)
-savefig("plot4_NonLinMPC.svg"); nothing # hide
+p = plot(res_yd)
+savefig(p, "plot4_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot4_NonLinMPC](plot4_NonLinMPC.svg)
@@ -217,8 +222,9 @@ setpoint is similar:
 unset_time_limit_sec(empc.optim)    # hide
 ry = [180.0, 0]
 res2_ry = sim!(empc, N, ry, plant=plant2, x_0=[0, 0], x̂_0=[0, 0, 0])
-plot(res2_ry, ploty=[1])
-savefig("plot5_NonLinMPC.svg"); nothing # hide
+p = plot(res2_ry, ploty=[1])
+savefig(p, "plot5_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot5_NonLinMPC](plot5_NonLinMPC.svg)
@@ -237,8 +243,9 @@ Also, for a 10° step disturbance:
 
 ```@example man_nonlin
 res2_yd = sim!(empc, N, ry; plant=plant2, x_0=[π, 0], x̂_0=[π, 0, 0], y_step=[10, 0])
-plot(res2_yd, ploty=[1])
-savefig("plot6_NonLinMPC.svg"); nothing # hide
+p = plot(res2_yd, ploty=[1])
+savefig(p, "plot6_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot6_NonLinMPC](plot6_NonLinMPC.svg)
@@ -324,8 +331,9 @@ function plotWithPower(res, Pmax)
     plot!(plt2, t, Pmax, label=raw"$P_\mathrm{max}$", linestyle=:dot, linewidth=1.5)
     return plot(plt1, plt2, layout=(2,1))
 end
-plotWithPower(res3_ry, Pmax)
-savefig("plot7_NonLinMPC.svg"); nothing # hide
+p = plotWithPower(res3_ry, Pmax)
+savefig(p, "plot7_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot7_NonLinMPC](plot7_NonLinMPC.svg)
@@ -359,8 +367,9 @@ The linear controller satisfactorily rejects the 10° step disturbance:
 ```@example man_nonlin
 ry = [180.0]
 res_lin = sim!(mpc, N, ry; plant, x_0=[π, 0], y_step=[10])
-plot(res_lin)
-savefig("plot9_NonLinMPC.svg"); nothing # hide
+p = plot(res_lin)
+savefig(p, "plot9_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot9_NonLinMPC](plot9_NonLinMPC.svg)
@@ -398,8 +407,9 @@ does slightly improve the rejection of the step disturbance:
 
 ```@example man_nonlin
 res_lin2 = sim!(mpc2, N, ry; plant, x_0=[π, 0], y_step=[10])
-plot(res_lin2)
-savefig("plot10_NonLinMPC.svg"); nothing # hide
+p = plot(res_lin2)
+savefig(p, "plot10_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot10_NonLinMPC](plot10_NonLinMPC.svg)
@@ -418,8 +428,9 @@ results:
 
 ```@example man_nonlin
 res_ms = sim!(mpc_ms, N, ry; plant, x_0=[π, 0], y_step=[10])
-plot!(res_ms)
-savefig("plot10b_NonLinMPC.svg"); nothing # hide
+plot!(p, res_ms)
+savefig(p, "plot10b_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot10b_NonLinMPC](plot10b_NonLinMPC.svg)
@@ -490,8 +501,9 @@ operating point. The [`SimResult`](@ref) object is for plotting purposes only. T
 ```@example man_nonlin
 x_0 = [0, 0]; x̂_0 = [0, 0, 0];
 res_slin = sim_adapt!(mpc3, model, N, ry, plant, x_0, x̂_0)
-plot(res_slin)
-savefig("plot12_NonLinMPC.svg"); nothing # hide
+p = plot(res_slin)
+savefig(p, "plot12_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot12_NonLinMPC](plot12_NonLinMPC.svg)
@@ -501,8 +513,9 @@ and the 10° step disturbance:
 ```@example man_nonlin
 x_0 = [π, 0]; x̂_0 = [π, 0, 0]; y_step = [10]
 res_slin = sim_adapt!(mpc3, model, N, ry, plant, x_0, x̂_0, y_step)
-plot(res_slin)
-savefig("plot13_NonLinMPC.svg"); nothing # hide
+p = plot(res_slin)
+savefig(p, "plot13_NonLinMPC.svg") # hide
+display(p) # hide
 ```
 
 ![plot13_NonLinMPC](plot13_NonLinMPC.svg)

docs/src/manual/nonlinmpc2.md

@@ -240,8 +240,9 @@ We can now plot the result:
 
 ```@example 1
 using Plots
-plot(res, plotu=true, plotd=true)
-savefig("plot1_DAEpH.svg"); nothing # hide
+p = plot(res, plotu=true, plotd=true)
+savefig(p, "plot1_DAEpH.svg") # hide
+display(p) # hide
 ```
 
 ![plot1_DAEpH](plot1_DAEpH.svg)
@@ -314,6 +315,7 @@ performs under pH and flow rate measurement noise:
 
 ```@example 1
 using Random
+Random.seed!(1123) # hide
 function simMHE(mhe, plant, N; x_0, x̂_0)
     ny, ny, nd, nx, nx̂ = plant.ny, plant.ny, plant.nd, plant.nx, mhe.nx̂
     Y_data, U_data, D_data = zeros(ny, N), zeros(nu, N), zeros(nd, N)
@@ -349,7 +351,7 @@ end
 x̂_0 = [0.025, 0.025, c_Ain]
 res = simMHE(mhe, plant, N; x_0, x̂_0)
 p = plot(res, plotd=false, plotu=false, plotxwithx̂=true, plotx̂min=false)
-savefig(p, "plot2_DAEpH.svg"); nothing # hide
+savefig(p, "plot2_DAEpH.svg") # hide
 display(p) # hide
 ```
 
@@ -424,11 +426,11 @@ function simNMPC(nmpc, plant, N, ry; x_0, x̂_0, noise=false)
 end
 N2, ry = 61, [7.0]
 using Logging # hide
-res2 = with_logger(ConsoleLogger(stderr, Error)) do # hide
-res2 = simNMPC(nmpc, plant, N2, ry; x_0=[0.07, 0.04], x̂_0)
+res = with_logger(ConsoleLogger(stderr, Error)) do # hide
+res = simNMPC(nmpc, plant, N2, ry; x_0=[0.07, 0.04], x̂_0)
 end # hide
-p = plot(res2, plotd=false, plotxwithx̂=true, plotx̂min=false, plotŷ=true)
-savefig(p, "plot3_DAEpH.svg"); nothing # hide
+p = plot(res, plotd=false, plotxwithx̂=true, plotx̂min=false, plotŷ=true)
+savefig(p, "plot3_DAEpH.svg") # hide
 display(p) # hide
 ```
 
@@ -440,11 +442,12 @@ measurement noise, the pH constraints are occasionally violated briefly, but the
 law responds quickly and returns the effluent pH to the specified range:
 
 ```@example 1
-res3 = with_logger(ConsoleLogger(stderr, Error)) do # hide
-res3 = simNMPC(nmpc, plant, N2, ry; x_0=[0.07, 0.04], x̂_0, noise=true)
+res = with_logger(ConsoleLogger(stderr, Error)) do # hide
+Random.seed!(5379) # hide
+res = simNMPC(nmpc, plant, N2, ry; x_0=[0.07, 0.04], x̂_0, noise=true)
 end # hide
-p = plot(res3, plotd=false, plotxwithx̂=true, plotx̂min=false, plotŷ=true)
-savefig(p, "plot4_DAEpH.svg"); nothing # hide
+p = plot(res, plotd=false, plotxwithx̂=true, plotx̂min=false, plotŷ=true)
+savefig(p, "plot4_DAEpH.svg") # hide
 display(p) # hide
 ```