From 80511cbb69204d5896240d9cda573fe8222cc5e4 Mon Sep 17 00:00:00 2001 From: franckgaga Date: Tue, 23 Jun 2026 10:25:28 -0400 Subject: [PATCH] doc: reverting to `Cwt=1e5` for the pendulum in manual This is the tuning for this specific solver that leads to minimal constraint violation. Note that constraint violation are normal and expected if there is modeling mismatch like in this example. But the objective of the manual is to present simple case study. I don't want to enter into the details of constraint violation under plant-model mistmatch here, it is already discussed in the last section for `LinMPC`. --- docs/src/manual/nonlinmpc.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/src/manual/nonlinmpc.md b/docs/src/manual/nonlinmpc.md index 1abcaa4fa..dd6802edc 100644 --- a/docs/src/manual/nonlinmpc.md +++ b/docs/src/manual/nonlinmpc.md @@ -288,7 +288,7 @@ We construct the controller by enabling relaxation with the `Cwt` argument, and specifying the number of custom inequality constraints `nc`: ```@example man_nonlin -Cwt, Pmax, nc = 1e4, 3, Hp+1 +Cwt, Pmax, nc = 1e5, 3, Hp+1 nmpc2 = NonLinMPC(estim2; Hp, Hc, Nwt=Nwt, Mwt=[0.5, 0], Cwt, gc!, nc, p=Pmax) nmpc2 = setconstraint!(nmpc2; umin, umax) using JuMP; unset_time_limit_sec(nmpc2.optim) # hide