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added: InternalModel now supports NonLinModelDAE - #491
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #491 +/- ##
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+ Coverage 97.15% 97.18% +0.03%
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Files 28 28
Lines 6987 6995 +8
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+ Hits 6788 6798 +10
+ Misses 199 197 -2
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franckgaga
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InternalModel supports NonLinModelDAEInternalModel now supports NonLinModelDAE
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The
InternalModelestimator just runs the simulations in open loop. It doesn't care how the simulations are computed. It can be therefore a linear description, a nonlinear ODE or a nonlinear DAE. Note that for the DAE case, simulating the model in open-loop means solving nonlinear root problems usingIpopt.jlby default. More precisely:preparestate!(to compute the current algebraic variable and then the predicted outputs)updatestate!(to update the differential states)This PR introduces the support for
NonLinModelDAEin theInternalModelestimator, to implement aNonLinMPCwith an internal model structure. Note that the same limitations apply: it does not support unstable or integrating plant model.