test: improve coverage

Author: franckgaga

test/3_test_predictive_control.jl

@@ -865,8 +865,8 @@ end
     Hp=50
 
     linmodel = LinModel(tf([2], [10000, 1]), 3000.0)
-    nmpc_lin = NonLinMPC(linmodel, Hp=Hp, Hc=5, gc=gc, nc=2Hp, p=[0; 0])
-
+    nmpc_lin = NonLinMPC(linmodel; Hp, Hc=5, gc=gc, nc=2Hp, p=[0; 0])
+   
     setconstraint!(nmpc_lin, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
     setconstraint!(nmpc_lin, umin=[-10], umax=[10])
     setconstraint!(nmpc_lin, Δumin=[-1e6], Δumax=[1e6])
@@ -935,7 +935,7 @@ end
     f = (x,u,_,p) -> p.A*x + p.Bu*u
     h = (x,_,p)   -> p.C*x
     nonlinmodel = NonLinModel(f, h, linmodel.Ts, 1, 1, 1, solver=nothing, p=linmodel)
-    nmpc = NonLinMPC(nonlinmodel, Hp=50, Hc=5, gc=gc, nc=2Hp, p=[0; 0])
+    nmpc = NonLinMPC(nonlinmodel; Hp, Hc=5, gc=gc, nc=2Hp, p=[0; 0])
 
     setconstraint!(nmpc, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
     setconstraint!(nmpc, umin=[-1e6], umax=[+1e6])
@@ -1001,6 +1001,18 @@ end
     info = getinfo(nmpc)
     @test all(isapprox.(info[:Ŷ], 3.14; atol=1e-1))
     @test all(isapprox.(info[:gc][Hp+1:end], 0.0; atol=1e-1))
+    
+    nmpc_ms = NonLinMPC(nonlinmodel; Hp, Hc=5, transcription=MultipleShooting())
+
+    preparestate!(nmpc_ms, [0])
+
+    setconstraint!(nmpc_ms, x̂min=[-1e-6,-Inf], x̂max=[+1e-6,+Inf])
+    moveinput!(nmpc_ms, [-10])
+    info = getinfo(nmpc_ms)
+    @test info[:x̂end][1] ≈ 0 atol=1e-1
+    moveinput!(nmpc_ms, [10])
+    info = getinfo(nmpc_ms)
+    @test info[:x̂end][1] ≈ 0 atol=1e-1
 
 end