From 7adb2cee01224c181c0127999772fd630531f011 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Wed, 12 Aug 2026 12:54:04 -0400
Subject: [PATCH 1/3] debug: `nx*Nk` nonlin. eq. const. for MHE with
 `TrapezoidalCollocation`

---
 src/estimator/mhe/transcription.jl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/estimator/mhe/transcription.jl b/src/estimator/mhe/transcription.jl
index 36adf555d..11ff8e400 100644
--- a/src/estimator/mhe/transcription.jl
+++ b/src/estimator/mhe/transcription.jl
@@ -1462,7 +1462,7 @@ function con_nonlinprogeq_mhe!(
         sdnext  .= @. x̂d_Z̃ - x̂dnext_Z̃ + 0.5*Ts*(k̇1 + k̇2)
         sdnext .+= ŵd
     end
-    Nk < He && (geq[nx̂*Nk+1:end] .= 0)
+    Nk < He && (geq[nx*Nk+1:end] .= 0)
     return geq
 end
 

From 20193698761c7e529fd96fadf16d53d59a460f4e Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Wed, 12 Aug 2026 13:08:47 -0400
Subject: [PATCH 2/3] debug: same for `MultipleShooting` and MHE

---
 src/estimator/mhe/transcription.jl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/estimator/mhe/transcription.jl b/src/estimator/mhe/transcription.jl
index 11ff8e400..0f54f984f 100644
--- a/src/estimator/mhe/transcription.jl
+++ b/src/estimator/mhe/transcription.jl
@@ -1383,7 +1383,7 @@ function con_nonlinprogeq_mhe!(
         x̂dnext .+= ŵd
         sdnext  .= @. x̂dnext - x̂dnext_Z̃
     end
-    Nk < He && (geq[nx̂*Nk+1:end] .= 0)
+    Nk < He && (geq[nx*Nk+1:end] .= 0)
     return geq
 end
 

From 2d34426b9b366429718e397bc629b3792ea73add Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Wed, 12 Aug 2026 14:31:17 -0400
Subject: [PATCH 3/3] test: new `getinfo(mhe)` tests when `Nk < He`

---
 test/2_test_state_estim.jl | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
index 449380924..0b971315b 100644
--- a/test/2_test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -1145,6 +1145,7 @@ end
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
     using JuMP, Ipopt, DifferentiationInterface, SparseMatrixColorings, SparseConnectivityTracer
     import ForwardDiff
+
     linmodel = LinModel(sys,Ts,i_u=[1,2], i_d=[3])
     linmodel = setop!(linmodel, uop=[10,50], yop=[50,30], dop=[5])
     f(x,u,d,model) = model.A*x + model.Bu*u + model.Bd*d
@@ -1237,7 +1238,13 @@ end
     end
     preparestate!(mhe3, [50, 30], [5])
     @test mhe3([5]) ≈ [50, 30] atol=1e-3
-
+    initstate!(mhe3, [10, 50], [50, 30], [5])
+    setstate!(mhe3, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+    preparestate!(mhe3, [50, 30], [5])
+    updatestate!(mhe3, [10, 50], [50, 30], [5])
+    info = getinfo(mhe3) # test getinfo when Nk<He 
+    @test info[:Ŵ] ≈ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    @test info[:V̂] ≈ [0.0, 0.0]    
 
     Q̂ = diagm([1/4, 1/4, 1/4, 1/4].^2) 
     R̂ = diagm([1, 1].^2)
@@ -1267,6 +1274,7 @@ end
     end
     preparestate!(mhe6, [13])
     @test mhe6() ≈ [13] atol=1e-3
+
     transcription = TrapezoidalCollocation(1)
     mhe7 = MovingHorizonEstimator(
         nonlinmodel_c; He=3, direct=true, transcription
@@ -1277,6 +1285,12 @@ end
     end
     preparestate!(mhe7, [13])
     @test mhe7() ≈ [13] atol=1e-3
+    initstate!(mhe7, [0.0], [0.0])
+    setstate!(mhe7, [0.0, 0.0])
+    preparestate!(mhe7, [0.0])
+    info = getinfo(mhe7) # test getinfo when Nk<He 
+    @test info[:Ŵ] ≈ [0.0, 0.0]
+    @test info[:V̂] ≈ [0.0]
 
     # coverage of the branch with error termination status (with an infeasible problem):
     mhe_infeas = MovingHorizonEstimator(nonlinmodel, He=1, Cwt=Inf)