debug: idem

Author: franckgaga

src/controller/transcription.jl

@@ -1067,9 +1067,10 @@ function linconstrainteq!(
     return nothing
 end
 "No linear equality constraints for [`InternalModel`](@ref) (state is not augmented)."
-linconstrainteq!(::PredictiveController, ::SimModel, ::InternalModel,  ::TranscriptionMethod) = nothing
+linconstrainteq!(::PredictiveController, ::SimModel, ::InternalModel, ::TranscriptionMethod) = nothing
 "No linear equality constraints for [`SingleShooting`(@ref) (N/A).]"
-linconstrainteq!(::PredictiveController, ::SimModel, ::StateEstimator, ::SingleShooting)      = nothing
+linconstrainteq!(::PredictiveController, ::SimModel, ::StateEstimator, ::SingleShooting)     = nothing
+linconstrainteq!(::PredictiveController, ::SimModel, ::IntenalModel,   ::SingleShooting)     = nothing
 
 @doc raw"""
     set_warmstart!(mpc::PredictiveController, ::SingleShooting, Z̃var) -> Z̃s