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Author: franckgaga

Project.toml

@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "2.1.1"
+version = "2.1.2"
 authors = ["Francis Gagnon"]
 
 [deps]

src/controller/transcription.jl

@@ -1420,7 +1420,7 @@ defects of the deterministic states are computed with:
 ```
 for ``j = 0, 1, ... , H_p-1`` and in which the deterministic state ``\mathbf{x̂_d}`` are the
 first `model.nx` elements of the augmented states ``\mathbf{x̂_0}``, and they extracted from
-the decision variables `Z̃`. The function ``\mathbf{f}`` is the deterministic state update
+the decision variable `Z̃`. The function ``\mathbf{f}`` is the deterministic state update
 function [`f!`](@ref). The disturbed input ``\mathbf{û_0}`` is defined in [`f̂!`](@ref)
 documentation. The defects of the stochastic states are linear equality constraints (see
 [`init_defectmat`](@ref)).
@@ -1471,7 +1471,7 @@ The deterministic state defects are computed with:
                        - \mathbf{x̂_d}(k+j+1)                                              
 ```
 for ``j = 0, 1, ... , H_p-1``, and in which ``\mathbf{x̂_d}`` are the deterministic states
-extracted from the decision variables `Z̃`. The ``\mathbf{k̇}`` coefficients are  evaluated
+extracted from the decision variable `Z̃`. The ``\mathbf{k̇}`` coefficients are  evaluated
 from the continuous-time function `model.f!` and:
 ```math
 \begin{aligned}