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franckgaga merged 1 commit into from
May 25, 2026
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doc: minor correction #361

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4 changes: 2 additions & 2 deletions src/estimator/mhe/construct.jl
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Expand Up @@ -299,8 +299,8 @@ transcription for now.
disturbances at measured outputs ``\mathbf{P_{int_{ym}}}(0)`` (composed of integrators).
- `Cwt=Inf` : slack variable weight ``C``, default to `Inf` meaning hard constraints only.
- `gc=(_,_,_,_,_,_,_,_,_,_,_)->nothing` or `gc!` : custom nonlinear inequality constraint function
``\mathbf{g_c}(\mathbf{X̂, V̂, Ŵ, U, Y^m, D, P̄, x̄, p}, ε)``, mutating or not (details in
Extended Help).
``\mathbf{g_c}(\mathbf{X̂_e, V̂_e, Ŵ_e, U_e, Y_e^m, D_e, P̄, x̄, p}, ε)``, mutating or not
(details in Extended Help).
- `nc=0` : number of custom nonlinear inequality constraints.
- `p=model.p` : ``\mathbf{g_c}`` functions parameter ``\mathbf{p}`` (any type).
- `optim=default_optim_mhe(model,nc)` : a [`JuMP.Model`](@extref) object with a quadratic or
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