Merge pull request #192 from control-toolbox/187-oc-upgrade

187 oc upgrade

.github/workflows/CI.yml

@@ -13,26 +13,24 @@ jobs:
     strategy:
       matrix:
         version:
-          #- '1.8'
-          - '1.9'
           - '1.10'
         os:
           - ubuntu-latest
           #- macOS-latest
-          ##- windows-latest
+          #- windows-latest
         arch:
           - x64
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@latest
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: julia-actions/add-julia-registry@v1
+      - uses: julia-actions/add-julia-registry@v2
         with:
           key: ${{ secrets.SSH_KEY }}
           registry: control-toolbox/ct-registry
       - uses: julia-actions/julia-runtest@latest
       - uses: julia-actions/julia-uploadcodecov@latest
         env:
-          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

.github/workflows/Documentation.yml

@@ -11,20 +11,20 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@latest
-      - uses: julia-actions/add-julia-registry@v1
+      - uses: julia-actions/add-julia-registry@v2
         with:
           key: ${{ secrets.SSH_KEY }}
           registry: control-toolbox/ct-registry
       - uses: julia-actions/julia-buildpkg@v1
         with:
-          version: '1.8'
+          version: '1.10'
       - name: Install dependencies
         run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
       - name: Build and deploy
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # If authenticating with GitHub Actions token
           DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }} # If authenticating with SSH deploy key
           GKSwstype: 100 # To make GitHub Action work, disable showing a plot window with the GR backend of the Plots package
-        run: julia --project=docs/ docs/make.jl
+        run: julia --project=docs/ docs/make.jl

Project.toml

@@ -10,7 +10,7 @@ CTFlows = "1c39547c-7794-42f7-af83-d98194f657c2"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 
 [compat]
-CTBase = "0.9"
-CTDirect = "0.6"
-CTFlows = "0.3"
-julia = "1.8"
+CTBase = "0.11"
+CTDirect = "0.9"
+CTFlows = "0.4"
+julia = "1.10"

docs/Project.toml

@@ -3,8 +3,10 @@ CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
 CTDirect = "790bbbee-bee9-49ee-8912-a9de031322d5"
 CTFlows = "1c39547c-7794-42f7-af83-d98194f657c2"
 CTProblems = "45d9ea3f-a92f-411f-833f-222dd4fb9cd8"
+DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MINPACK = "4854310b-de5a-5eb6-a2a5-c1dee2bd17f9"
+NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb"

docs/make.jl

@@ -27,10 +27,6 @@ makedocs(
                             "tutorial-plot.md",
                             "tutorial-lqr-basic.md",
                             "tutorial-iss.md",
-                            #"tutorial-model.md",
-                            #"tutorial-solvers.md",
-                            #"tutorial-flows.md",
-                            #"tutorial-ct_repl.md",
                             ],
         "Applications" => [
                             "tutorial-batch.md",

docs/src/tutorial-basic-example-f.md

@@ -28,29 +28,24 @@ starting from the condition $x(0) = (-1, 0)$ and with the goal to reach the targ
     [Double integrator: energy minimisation](https://control-toolbox.org/docs/ctproblems/stable/problems/double_integrator_energy.html#DIE) 
     for the analytical solution and details about this problem.
 
-```@setup main
-using Plots
-using Plots.PlotMeasures
-plot(args...; kwargs...) = Plots.plot(args...; kwargs..., leftmargin=25px)
-```
-
-First, we need to import the `OptimalControl.jl` package:
+First, we need to import the `OptimalControl.jl` package to define and solve the optimal control problem. We also need to import the `Plots.jl` package to plot the solution.
 
 ```@example main
 using OptimalControl
+using Plots
 ```
 
 Then, we can define the problem
 
 ```@example main
 ocp = Model()                                   # empty optimal control problem
 
-time!(ocp, [ 0, 1 ])                            # time interval
+time!(ocp, t0=0, tf=1)                          # initial and final times
 state!(ocp, 2)                                  # dimension of the state
 control!(ocp, 1)                                # dimension of the control
 
-constraint!(ocp, :initial, [ -1, 0 ])           # initial condition
-constraint!(ocp, :final,   [  0, 0 ])           # final condition
+constraint!(ocp, :initial; lb=[ -1, 0 ], ub=[ -1, 0 ]) # initial condition
+constraint!(ocp, :final;   lb=[  0, 0 ], ub=[  0, 0 ]) # final condition
 
 dynamics!(ocp, (x, u) -> [ x[2], u ])           # dynamics of the double integrator
 
@@ -62,7 +57,7 @@ nothing # hide
 
     There are two ways to define an optimal control problem:
     - using functions like in this example, see also the [`Model` documentation](https://control-toolbox.org/docs/ctbase/stable/api-model.html) for more details.
-    - using an abstract formulation. You can compare both ways taking a look at the abstract version of this [basic example](@ref basic).
+    - using an abstract formulation, see for instance [basic example](@ref basic) to compare.
 
 Solve it
 
@@ -74,5 +69,5 @@ nothing # hide
 and plot the solution
 
 ```@example main
-plot(sol, size=(600, 450))
+plot(sol)
 ```

docs/src/tutorial-basic-example.md

@@ -10,7 +10,7 @@ We denote by $x = (x_1, x_2)$ the state of the wagon, that is its position $x_1$
 We assume that the mass is constant and unitary and that there is no friction. The dynamics we consider is given by
 
 ```math
-    \dot x_1(t) = x_2(t), \quad \dot x_2(t) = u(t), , \quad u(t) \in \R,
+    \dot x_1(t) = x_2(t), \quad \dot x_2(t) = u(t),\quad u(t) \in \R,
 ```
 
 which is simply the [double integrator](https://en.wikipedia.org/w/index.php?title=Double_integrator&oldid=1071399674) system.
@@ -28,16 +28,11 @@ starting from the condition $x(0) = (-1, 0)$ and with the goal to reach the targ
     [Double integrator: energy minimisation](https://control-toolbox.org/docs/ctproblems/stable/problems/double_integrator_energy.html#DIE) 
     for the analytical solution and details about this problem.
 
-```@setup main
-using Plots
-using Plots.PlotMeasures
-plot(args...; kwargs...) = Plots.plot(args...; kwargs..., leftmargin=25px)
-```
-
-First, we need to import the `OptimalControl.jl` package:
+First, we need to import the `OptimalControl.jl` package to define and solve the optimal control problem. We also need to import the `Plots.jl` package to plot the solution.
 
 ```@example main
 using OptimalControl
+using Plots
 ```
 
 Then, we can define the problem
@@ -65,5 +60,5 @@ nothing # hide
 and plot the solution
 
 ```@example main
-plot(sol, size=(600, 450))
+plot(sol)
 ```

docs/src/tutorial-batch.md

@@ -48,11 +48,16 @@ w_R(p) = \frac{k_R\,p}{K_r + p}\,, \quad w_M(s) = \frac{k_m s}{K_m + s}\cdot
 
 ## Biomass maximisation
 
-We are interested in maximising the biomass production [^3] (final volume of the bacterial population) over a finite time horizon $[0,t_f]$. To solve the problem, we first set up the boundary values,
+We first import the needed packages.
 
 ```@example main
 using OptimalControl
+using Plots
+```
 
+We are interested in maximising the biomass production [^3] (final volume of the bacterial population) over a finite time horizon $[0,t_f]$. To solve the problem, we first set up the boundary values,
+
+```@example main
 t0 = 0      
 tf = 90     
 s0 = 0.1
@@ -148,8 +153,8 @@ println("Objective ", sol2.objective, " after ", sol2.iterations, " iterations")
 We eventually plot the solutions (raw grid + finer grid) and observe that the control exhibits the expected structure with a Fuller-in arc followed by a singular one, then a Fuller-out arc:
 
 ```@example main
-plot(sol1, size=(800, 800))
-plot!(sol2)
+plot(sol1; solution_label="(N=20)", size=(800, 1000))     # N is the grid size
+plot!(sol2; solution_label="(N=1000)")
 ```
 
 ## References

docs/src/tutorial-double-integrator.md

@@ -19,30 +19,38 @@ a line without fricton.
 <img src="./assets/chariot.png" style="display: block; margin: 0 auto 20px auto;" width="300px">
 ```
 
-First, we need to import the `OptimalControl.jl` package:
+First, we need to import the `OptimalControl.jl` package to define and solve the optimal control problem. We also need to import the `Plots.jl` package to plot the solution.
 
 ```@example main
 using OptimalControl
+using Plots
 ```
 
 Then, we can define the problem
 
 ```@example main
 @def ocp begin
-    tf ∈ R, variable
-    t ∈ [ 0, tf ], time
+
+    tf ∈ R,          variable
+    t ∈ [ 0, tf ],   time
     x = (q, v) ∈ R², state
-    u ∈ R, control
+    u ∈ R,           control
+
     tf ≥ 0
     -1 ≤ u(t) ≤ 1
-    q(0) == 1
-    v(0) == 2
+
+    q(0)  == 1
+    v(0)  == 2
     q(tf) == 0
     v(tf) == 0
-    0 ≤ q(t) ≤ 5,       (1)
-    -2 ≤ v(t) ≤ 3,      (2)
+
+     0 ≤ q(t) ≤ 5,          (1)
+    -2 ≤ v(t) ≤ 3,          (2)
+
     ẋ(t) == [ v(t), u(t) ]
+
     tf → min
+
 end
 nothing # hide
 ```
@@ -65,5 +73,5 @@ nothing # hide
 and plot the solution
 
 ```@example main
-plot(sol, size=(600, 450))
+plot(sol)
 ```

docs/src/tutorial-goddard.md

@@ -36,16 +36,16 @@ $v(t) \leq v_{\max}$. The initial state is fixed while only the final mass is pr
 ## Direct method
 
 ```@setup main
-using Plots
-using Plots.PlotMeasures
-plot(args...; kwargs...) = Plots.plot(args...; kwargs..., leftmargin=25px)
 using Suppressor # to suppress warnings
 ```
 
-We import the `OptimalControl.jl` package:
+We import the `OptimalControl.jl` package to define and solve the optimal control problem. We import the `Plots.jl` package to plot the solution. The `DifferentialEquations.jl` package is used to define the shooting function for the indirect method and the `MINPACK.jl` package permits solve the shooting equation.
 
 ```@example main
 using OptimalControl
+using Plots
+using DifferentialEquations # to get the Flow function
+using MINPACK               # NLE solver
 ```
 
 We define the problem
@@ -99,14 +99,14 @@ nothing # hide
 We then solve it
 
 ```@example main
-direct_sol = solve(ocp, grid_size=100)
+direct_sol = OptimalControl.solve(ocp, grid_size=100)
 nothing # hide
 ```
 
 and plot the solution
 
 ```@example main
-plt = plot(direct_sol, size=(600, 600))
+plt = plot(direct_sol, solution_label="(direct)", size=(800, 800))
 ```
 
 ## Indirect method
@@ -130,7 +130,7 @@ u_plot  = plot(t, u,     label = "u(t)")
 H1_plot = plot(t, φ,     label = "H₁(x(t), p(t))")
 g_plot  = plot(t, g ∘ x, label = "g(x(t))")
 
-plot(u_plot, H1_plot, g_plot, layout=(3,1), size=(600,450))
+plot(u_plot, H1_plot, g_plot, layout=(3,1), size=(500, 500))
 ```
 
 We are now in position to solve the problem by an indirect shooting method. We first define
@@ -268,8 +268,6 @@ println("Norm of the shooting function: ‖s‖ = ", norm(s), "\n")
 Finally, we can solve the shooting equations thanks to the [MINPACK](https://docs.sciml.ai/NonlinearSolve/stable/solvers/NonlinearSystemSolvers/#MINPACK.jl) solver.
 
 ```@example main
-using MINPACK                                               # NLE solver
-
 nle = (s, ξ) -> shoot!(s, ξ[1:3], ξ[4], ξ[5], ξ[6], ξ[7])   # auxiliary function
                                                             # with aggregated inputs
 ξ = [ p0 ; t1 ; t2 ; t3 ; tf ]                              # initial guess
@@ -306,7 +304,7 @@ We plot the solution of the indirect solution (in red) over the solution of the
 f = f1 * (t1, fs) * (t2, fb) * (t3, f0) # concatenation of the flows
 flow_sol = f((t0, tf), x0, p0)          # compute the solution: state, costate, control...
 
-plot!(plt, flow_sol)
+plot!(plt, flow_sol, solution_label="(indirect)")
 ```
 
 ## References

docs/src/tutorial-init.md

@@ -8,7 +8,10 @@ We present in this tutorial the different possibilities to provide an initial gu
 
 ```@example main
 using OptimalControl
+using Plots
+```
 
+```@example main
 t0 = 0
 tf = 10
 α  = 5

docs/src/tutorial-iss.md

@@ -10,7 +10,9 @@ Let us start by importing the necessary packages.
 
 ```@example main
 using OptimalControl
-using MINPACK # NLE solver
+using Plots
+using DifferentialEquations # to get the Flow function from OptimalControl
+using MINPACK               # NLE solver: we get the fsolve function
 ```
 
 Let us consider the following optimal control problem:
@@ -35,13 +37,18 @@ x0 = -1
 xf = 0
 α  = 1.5
 @def ocp begin
+
     t ∈ [ t0, tf ], time
     x ∈ R, state
     u ∈ R, control
+
     x(t0) == x0
     x(tf) == xf
+
     ẋ(t) == -x(t) + α * x(t)^2 + u(t)
+
     ∫( 0.5u(t)^2 ) → min
+    
 end;
 nothing # hide
 ```