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doc: argument order bugfix in pH tutorial #459

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Merged
franckgaga merged 1 commit into from
Sep 27, 2026
Merged

doc: argument order bugfix in pH tutorial #459

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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 = "2.14.1"
version = "2.14.2"
authors = ["Francis Gagnon"]

[deps]
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4 changes: 2 additions & 2 deletions docs/src/manual/nonlinmpc2.md
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Expand Up @@ -293,7 +293,7 @@ they are concentrations in mol/L:
```@example 1
nint_ym=0; nint_u=0; # disable the default stochastic model
He = 8; hessian = true
σQ = [0.0015, 0.0015, 2e-4]; σR=[0.05]; σP_0 = [0.05, 0.05, 5e-4]
σQ = [0.5e-3, 0.5e-3, 0.75e-3]; σR=[0.05]; σP_0 = [0.05, 0.05, 1e-3]
mhe = MovingHorizonEstimator(model; nint_ym, nint_u, He, hessian, σQ, σR, σP_0)
using JuMP; unset_time_limit_sec(mhe.optim) # no wall time limit during optimization
mhe = setconstraint!(mhe, x̂min=[0, 0, 0])
Expand Down Expand Up @@ -335,7 +335,7 @@ function simMHE(mhe, plant, N; x_0, x̂_0)
Ŷ_data[:, i] = ŷ
X̂_data[:, i] = x̂
x = updatestate!(plant, u, d)
x̂ = updatestate!(mhe, ym, u, dm)
x̂ = updatestate!(mhe, u, ym, dm)
end
plant.p[1] = c_Ain_0
return SimResult(mhe, U_data, Y_data, D_data; plant, X_data, X̂_data, Ŷ_data)
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