v0.21.0

ModelPredictiveControl v0.21.0

Diff since v0.20.2

BREAKING CHANGE
All the keyword arguments related to initial values e.g. σP0, x0 and x̂0 now require an underscore e.g. σP_0, x_0, x̂_0 (to differentiate from operating point deviation vectors)

• Added: setmodel! for runtime model adaptation of controller/estimator based on LinModel
• Added: linearize and setop! now support non-equilibrium points
• Added: successive linearization MPC with the new setmodel! and linearize functions
• Added: successive linearization MHE with the new setmodel! and linearize functions
• Added: linearize! method for in-place model linearization (to reduce allocations)
• Added: 6 args. LinModel constructor now support scalars (similarly to ss function)
• Added: ExtendedKalmanFilter now compute the Jacobians in-place (to reduce allocations)
• Changed: struct state data x and state estimate x̂ renamed to x0 and x̂0
• Debug: ExplicitMPC with non-Float64 now works
• Debug: accept integers in linearize arguments
• Debug: call empty! on JuMP.Model to support re-construction of MPC instances
• Doc: new setmodel!, setop! and linearize function documentation
• Doc: example of model adaptation with successive linearization on the pendulum (very efficient!)

Merged pull requests:

• Added: adaptatation of LinMPC model through setmodel! (#52) (@franckgaga)
• Added: adaptation of controller/estimator based on LinModel (#54) (@franckgaga)
• Added: setmodel! for MovingHorizonEstimator (#55) (@franckgaga)