doc: details on setpoint previews

Author: franckgaga

README.md

@@ -97,9 +97,10 @@ for more detailed examples.
 - automatic model augmentation with integrating states for offset-free tracking
 - support for unmeasured model outputs
 - feedforward action with measured disturbances that supports direct transmission
-- custom predictions for:
+- custom predictions for (or preview):
   - output setpoints
   - measured disturbances
+  - input setpoints
 - easy integration with `Plots.jl`
 - optimization based on `JuMP.jl`:
   - quickly compare multiple optimizers

src/controller/execute.jl

@@ -18,7 +18,8 @@ results ``\mathbf{u}(k)``. Following the receding horizon principle, the algorit
 the optimal future manipulated inputs ``\mathbf{u}(k+1), \mathbf{u}(k+2), ...`` Note that
 the method mutates `mpc` internal data but it does not modifies `mpc.estim` states. Call
 [`preparestate!(mpc, ym, d)`](@ref) before `moveinput!`, and [`updatestate!(mpc, u, ym, d)`](@ref)
-after, to update `mpc` state estimates.
+after, to update `mpc` state estimates. Setpoint and measured disturbance previews can
+be implemented with the `R̂y`, `R̂u` and `D̂` keyword arguments. 
 
 Calling a [`PredictiveController`](@ref) object calls this method.