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debug: linearize recuperate the unit field #463

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Merged
franckgaga merged 3 commits into from
Oct 2, 2026
Merged

debug: linearize recuperate the unit field #463

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5f7ef1c
debug: `linearize` recuperate `unit` field
franckgaga Oct 1, 2026
43bad05
doc: minor correction
franckgaga Oct 1, 2026
efdcc1a
doc: delete the concrete types in `ManualEstimator`
franckgaga Oct 1, 2026
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2 changes: 1 addition & 1 deletion docs/src/manual/nonlinmpc2.md
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Expand Up @@ -71,7 +71,7 @@ The following notation highlights three key concentrations in the model:
in which ``c_A`` represents the total concentration of the acid species in the reactor
(mol/L), composed of an undissociated acid ``\mathrm{H}\mathrm{Ac}`` and the acetate ion
``\mathrm{Ac}^-``. Substituting the constants, algebraic and state variables into the charge
balance leads the algebraic equation:
balance leads to the algebraic equation:

```math
0 = a_H + c_B - \frac{K_w}{a_H} - \frac{K_a c_A}{K_a + a_H}
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2 changes: 1 addition & 1 deletion src/estimator/manual.jl
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Expand Up @@ -52,7 +52,7 @@ end
@doc raw"""
ManualEstimator(model::SimModel; <keyword arguments>)

Construct a manual state estimator for `model` ([`LinModel`](@ref) or [`NonLinModel`](@ref)).
Construct a manual state estimator for `model`.

This [`StateEstimator`](@ref) type allows the construction of [`PredictiveController`](@ref)
objects but turns off the built-in state estimation. The user must manually provides the
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2 changes: 1 addition & 1 deletion src/model/linearization.jl
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Expand Up @@ -127,7 +127,7 @@ function linearize(model::SimModelODE{NT}; kwargs...) where NT<:Real
C = Matrix{NT}(undef, ny, nx)
Bd = Matrix{NT}(undef, nx, nd)
Dd = Matrix{NT}(undef, ny, nd)
linmodel = LinModel{NT}(A, Bu, C, Bd, Dd, model.Ts)
linmodel = LinModel{NT}(A, Bu, C, Bd, Dd, model.Ts, model.unit)
linmodel.uname .= model.uname
linmodel.xname .= model.xname
linmodel.yname .= model.yname
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