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franckgaga merged 2 commits into from
Oct 17, 2026
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doc: minor corrections in pH tutorial #472

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doc: minor correction in pH tutorial
franckgaga Oct 17, 2026
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doc: slightly reduce intagration gain in pH tutorial
franckgaga Oct 17, 2026
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10 changes: 5 additions & 5 deletions docs/src/manual/nonlinmpc2.md
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Expand Up @@ -299,7 +299,7 @@ they are concentrations in mol/L:
```@example 1
nint_ym=0; nint_u=0; # disable the default stochastic model
He = 8; hessian = true
σQ = [0.5e-3, 0.5e-3, 1e-3]; σR=[0.05]; σP_0 = [0.05, 0.05, 1e-3]
σQ = [0.5e-3, 0.5e-3, 0.9e-3]; σR=[0.05]; σP_0 = [0.05, 0.05, 1e-3]
mhe = MovingHorizonEstimator(model; nint_ym, nint_u, He, hessian, σQ, σR, σP_0)
using JuMP; unset_time_limit_sec(mhe.optim) # no wall time limit during optimization
mhe = setconstraint!(mhe, x̂min=[0, 0, 0])
Expand Down Expand Up @@ -376,8 +376,8 @@ deviation of ±1.0. The base flow rate is also constrained between 0 and 20 L/mi

```@example 1
nmpc = NonLinMPC(mhe, Hp=8, Hc=2, Nwt=[5.0])
nmpc = setconstraint!(nmpc, ymin=[6], ymax=[8], umin=[0], umax=[20])
using JuMP; unset_time_limit_sec(nmpc.optim) # no wall time limit during optimization
nmpc = setconstraint!(nmpc, ymin=[6], ymax=[8], umin=[0], umax=[20])
```

Next, we define a function similar to `simMHE` that simulates the plant in closed loop with
Expand Down Expand Up @@ -435,9 +435,9 @@ display(p) # hide
![plot3_DAEpH](plot3_DAEpH.svg)

The figure above shows that the `nmpc` controller tightly regulates the pH around 7.0 and
that the `mhe` estimator accurately tracks all three species at steady state. With m
easurement noise, the pH constraints are occasionally violated briefly, but the feedback law
responds quickly and returns the effluent pH to the specified range.
that the `mhe` estimator accurately tracks all three species at steady state. With
measurement noise, the pH constraints are occasionally violated briefly, but the feedback
law responds quickly and returns the effluent pH to the specified range:

```@example 1
res3 = with_logger(ConsoleLogger(stderr, Error)) do # hide
Expand Down
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