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franckgaga merged 2 commits into from
Mar 26, 2026
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doc: debug plant parameter vector in MTK example of the manual #342

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doc: debug plant paramters in MTK example
franckgaga Mar 26, 2026
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franckgaga Mar 26, 2026
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2 changes: 1 addition & 1 deletion Project.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
name = "ModelPredictiveControl"
uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
version = "2.2.2"
version = "2.2.3"
authors = ["Francis Gagnon"]

[deps]
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6 changes: 3 additions & 3 deletions docs/src/manual/mtk.md
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Expand Up @@ -117,12 +117,12 @@ Ts = 0.1
model = setname!(NonLinModel(f!, h!, Ts, nu, nx, ny; p); u=vu, x=vx, y=vy)
```

We also instantiate a plant model with a 25 % larger friction coefficient ``K``, which is
the third element of `p`, as shown above:
We also instantiate a plant model with a 25 % larger friction coefficient ``K``:

```@example 1
i_K = findfirst(==("K"), string.(p_sym))
p2 = copy(p)
p2[3] = 1.25*p[3]
p2[i_K] = 1.25*p[i_K]
plant = setname!(NonLinModel(f!, h!, Ts, nu, nx, ny; p=p2), u=vu, x=vx, y=vy)
```

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