From 5db223f92e62304690cf6d471cbc15c45974f611 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Sun, 16 Aug 2026 11:18:13 -0400
Subject: [PATCH 01/40] changed: using the new `juliaci.yml` workflow

---
 .github/workflows/CI.yml            | 49 -----------------------------
 .github/workflows/TagBot.yml        | 33 -------------------
 .github/workflows/documentation.yml | 26 ---------------
 .github/workflows/juliaci.yml       | 14 +++++++++
 4 files changed, 14 insertions(+), 108 deletions(-)
 delete mode 100644 .github/workflows/CI.yml
 delete mode 100644 .github/workflows/TagBot.yml
 delete mode 100644 .github/workflows/documentation.yml
 create mode 100644 .github/workflows/juliaci.yml

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
deleted file mode 100644
index 144c91b1f..000000000
--- a/.github/workflows/CI.yml
+++ /dev/null
@@ -1,49 +0,0 @@
-name: CI
-on:
-  push:
-    branches:
-      - main
-    tags: ['*']
-  pull_request:
-concurrency:
-  # Skip intermediate builds: always.
-  # Cancel intermediate builds: only if it is a pull request build.
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: ${{ startsWith(github.ref, 'refs/pull/') }}
-jobs:
-  test:
-    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
-    runs-on: ${{ matrix.os }}
-    permissions: # needed for julia-actions/cache delete old caches that it has created
-      actions: write
-      contents: read
-    continue-on-error: ${{ matrix.version == 'pre' }}
-    strategy:
-      fail-fast: false
-      matrix:
-        version:
-          - 'lts' # long-term support release
-          - '1'   # latest stable 1.x release
-          - 'pre' # latest stable prerelease
-          # - 'nightly' # commented since noisy + 'pre' allows testing upcoming versions
-        os:
-          - ubuntu-latest
-        arch:
-          - x64
-    steps:
-      - name: Set JULIA_DEBUG environment variable if applicable
-        if: ${{ runner.debug == '1' }}
-        run: echo "JULIA_DEBUG=ModelPredictiveControl" >> $GITHUB_ENV
-      - uses: actions/checkout@v7
-      - uses: julia-actions/setup-julia@v3
-        with:
-          version: ${{ matrix.version }}
-          arch: ${{ matrix.arch }}
-      - uses: julia-actions/cache@v3
-      - uses: julia-actions/julia-buildpkg@v1
-      - uses: julia-actions/julia-runtest@v1
-      - uses: julia-actions/julia-processcoverage@v1
-      - uses: codecov/codecov-action@v7
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          fail_ci_if_error: false 
\ No newline at end of file
diff --git a/.github/workflows/TagBot.yml b/.github/workflows/TagBot.yml
deleted file mode 100644
index 3042569cb..000000000
--- a/.github/workflows/TagBot.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-name: TagBot
-on:
-  issue_comment:
-    types:
-      - created
-  workflow_dispatch:
-    inputs:
-      lookback:
-        default: 3
-permissions:
-  actions: read
-  checks: read
-  contents: write
-  deployments: read
-  issues: read
-  discussions: read
-  packages: read
-  pages: read
-  pull-requests: read
-  repository-projects: read
-  security-events: read
-  statuses: read
-jobs:
-  TagBot:
-    if: github.event_name == 'workflow_dispatch' || github.actor == 'JuliaTagBot'
-    runs-on: ubuntu-latest
-    steps:
-      - uses: JuliaRegistries/TagBot@v1
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          # Edit the following line to reflect the actual name of the GitHub Secret containing your private key
-          ssh: ${{ secrets.DOCUMENTER_KEY }}
-          # ssh: ${{ secrets.NAME_OF_MY_SSH_PRIVATE_KEY_SECRET }}
\ No newline at end of file
diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
deleted file mode 100644
index 70a059074..000000000
--- a/.github/workflows/documentation.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Documentation
-
-on:
-  push:
-    branches:
-      - main # update to match your development branch (master, main, dev, trunk, ...)
-    tags: '*'
-  pull_request:
-
-jobs:
-  build:
-    permissions:
-      contents: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v7
-      - uses: julia-actions/setup-julia@v3
-        with:
-          version: '1'
-      - name: Install dependencies
-        run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
-      - name: Build and deploy
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # If authenticating with GitHub Actions token
-          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }} # If authenticating with SSH deploy key
-        run: julia --project=docs/ docs/make.jl
\ No newline at end of file
diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
new file mode 100644
index 000000000..1ddc402c7
--- /dev/null
+++ b/.github/workflows/juliaci.yml
@@ -0,0 +1,14 @@
+name: Julia CI
+
+on:
+  push: {branches: [main,master]}
+  pull_request: {types: [opened,synchronize,reopened,ready_for_review,converted_to_draft]}
+  issue_comment: {types: [created]}
+  workflow_dispatch: {inputs: {feature: {type: choice, description: What to run, options: [DocDeploy,LintAndTest,TagBot]}}}
+
+jobs:
+  julia-ci:
+    uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
+    permissions: write-all
+    secrets:
+      codecov_token: ${{ secrets.CODECOV_TOKEN }}
\ No newline at end of file

From e3f24f65ebf45630c07576e8d8c8073d9e93561f Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 09:51:18 -0400
Subject: [PATCH 02/40] removed: x64 MacOS and x86 windows on CI Not worth it,
 too niche.

---
 .github/workflows/juliaci.yml | 11 ++++++++++-
 test/runtests.jl              |  4 +++-
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index 1ddc402c7..c98617be6 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -4,11 +4,20 @@ on:
   push: {branches: [main,master]}
   pull_request: {types: [opened,synchronize,reopened,ready_for_review,converted_to_draft]}
   issue_comment: {types: [created]}
-  workflow_dispatch: {inputs: {feature: {type: choice, description: What to run, options: [DocDeploy,LintAndTest,TagBot]}}}
+  workflow_dispatch:
+    inputs:
+      feature:
+        type: choice
+        description: What to run
+        options: [DocDeploy, LintAndTest, TagBot]
 
 jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
+    with:
+      include-rc-versions: true
+      include-windows-x86: false
+      include-macos-x64: false
     permissions: write-all
     secrets:
       codecov_token: ${{ secrets.CODECOV_TOKEN }}
\ No newline at end of file
diff --git a/test/runtests.jl b/test/runtests.jl
index 5a707242e..ca1e49c84 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -1,8 +1,10 @@
 using ModelPredictiveControl
 using Test, TestItems, TestItemRunner
 
-@run_package_tests(verbose=true)
+@run_package_tests
 
+# Not needed for TestItems discovery, but including the files means `Pkg.test` parses them 
+# and catches syntax errors early:
 include("0_test_module.jl")
 include("1_test_sim_model.jl")
 include("2_test_state_estim.jl")

From ef38567e72d680316ed95e16c8bc8ded2e4943b3 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 09:52:53 -0400
Subject: [PATCH 03/40] removed: Linux x86, same reasons

---
 .github/workflows/juliaci.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index c98617be6..f98f6dc88 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -17,6 +17,7 @@ jobs:
     with:
       include-rc-versions: true
       include-windows-x86: false
+      include-linux-x86: false
       include-macos-x64: false
     permissions: write-all
     secrets:

From 6334bc0f51af71efff2da0cbc4fd7b25ff892285 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 11:01:52 -0400
Subject: [PATCH 04/40] test: smaller chunks for nonlinear MPC and MHE tests To
 avoid 1200 s timouts

---
 test/2_test_state_estim.jl        | 125 ++++++++++++++++++------------
 test/3_test_predictive_control.jl | 123 +++++++++++++++++++----------
 2 files changed, 159 insertions(+), 89 deletions(-)

diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
index 3c98ebc2c..1342b61be 100644
--- a/test/2_test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -1141,7 +1141,7 @@ end
 
 end
 
-@testitem "MHE estimation and getinfo (NonLinModel)" setup=[SetupMPCtests] begin
+@testitem "MHE estimation and getinfo (NonLinModel, SS)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
     using JuMP, Ipopt, DifferentiationInterface, SparseMatrixColorings, SparseConnectivityTracer
     import ForwardDiff
@@ -1229,6 +1229,65 @@ end
     preparestate!(mhe2, [50, 30], [5])
     @test mhe2([5]) ≈ [50, 30] atol=5e-3
 
+    Q̂ = diagm([1/4, 1/4, 1/4, 1/4].^2) 
+    R̂ = diagm([1, 1].^2)
+    optim = Model(Ipopt.Optimizer)
+    covestim = ExtendedKalmanFilter(nonlinmodel, 1:2, 0, 0, Q̂, Q̂, R̂)
+    mhe5 = MovingHorizonEstimator(nonlinmodel, 1, 1:2, 0, 0, Q̂, Q̂, R̂; optim, covestim)
+    preparestate!(mhe5, [50, 30], [5])
+    x̂ = updatestate!(mhe5, [10, 50], [50, 30], [5])
+    @test x̂ ≈ zeros(4) atol=1e-9
+    @test mhe5.x̂0 ≈ zeros(4) atol=1e-9
+    preparestate!(mhe5, [50, 30], [5])
+    @test evaloutput(mhe5, [5]) ≈ mhe5([5]) ≈ [50, 30]
+    info = getinfo(mhe5)
+    @test info[:x̂] ≈ x̂ atol=1e-9
+    @test info[:Ŷ][end-1:end] ≈ [50, 30] atol=1e-9  
+
+    # coverage of the branch with error termination status (with an infeasible problem):
+    mhe_infeas = MovingHorizonEstimator(nonlinmodel, He=1, Cwt=Inf)
+    mhe_infeas = setconstraint!(mhe_infeas, v̂min=[1, 1], v̂max=[-1, -1]) 
+    @test_logs(
+        (:error, "MHE terminated without solution: estimation in open-loop "*
+                 "(more info in debug log)"), 
+        preparestate!(mhe_infeas, [0, 0], [0])
+    )
+
+    # for coverage of NLP functions, the univariate syntax of JuMP.@operator
+    mhe7 = MovingHorizonEstimator(nonlinmodel, He=1, Cwt=Inf)
+    setconstraint!(mhe7, v̂min=[-51,-52], v̂max=[53,54])
+    x̂ = preparestate!(mhe7, [50, 30], [5])
+    @test x̂ ≈ zeros(6) atol=1e-9
+    @test_nowarn ModelPredictiveControl.info2debugstr(info)
+    @test_throws ErrorException setstate!(mhe1, [1,2,3,4,5,6], diagm(.1:.1:.6))
+
+    hessian = AutoSparse(
+        AutoForwardDiff();
+        sparsity_detector=TracerSparsityDetector(),
+        coloring_algorithm=GreedyColoringAlgorithm(),
+    )
+
+    mhe8 = MovingHorizonEstimator(nonlinmodel; He=2, hessian)
+    @test_logs(
+        (:warn, "NaN values in the MHE measurements ym: ignoring them in the objective"),
+        preparestate!(mhe8, [50, NaN], [5])
+    )
+    @test mhe8.x̂0 ≈ zeros(6) atol=1e-9
+
+end
+
+@testitem "MHE estimation and getinfo (NonLinModel, MS)" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
+    using JuMP, Ipopt, DifferentiationInterface, SparseMatrixColorings, SparseConnectivityTracer
+    import ForwardDiff
+
+    linmodel = LinModel(sys,Ts,i_u=[1,2], i_d=[3])
+    linmodel = setop!(linmodel, uop=[10,50], yop=[50,30], dop=[5])
+    f(x,u,d,model) = model.A*x + model.Bu*u + model.Bd*d
+    h(x,d,model)   = model.C*x + model.Dd*d
+    nonlinmodel = NonLinModel(f, h, Ts, 2, 4, 2, 1, solver=nothing, p=linmodel)
+    nonlinmodel = setop!(nonlinmodel, uop=[10,50], yop=[50,30], dop=[5])
+
     mhe3 = MovingHorizonEstimator(
         nonlinmodel, He=3, direct=false, transcription=MultipleShooting(f_threads=true)
     )
@@ -1244,22 +1303,13 @@ end
     updatestate!(mhe3, [10, 50], [50, 30], [5])
     info = getinfo(mhe3) # test getinfo when Nk<He 
     @test info[:Ŵ] ≈ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-    @test info[:V̂] ≈ [0.0, 0.0]    
+    @test info[:V̂] ≈ [0.0, 0.0]
+end
 
-    Q̂ = diagm([1/4, 1/4, 1/4, 1/4].^2) 
-    R̂ = diagm([1, 1].^2)
-    optim = Model(Ipopt.Optimizer)
-    covestim = ExtendedKalmanFilter(nonlinmodel, 1:2, 0, 0, Q̂, Q̂, R̂)
-    mhe5 = MovingHorizonEstimator(nonlinmodel, 1, 1:2, 0, 0, Q̂, Q̂, R̂; optim, covestim)
-    preparestate!(mhe5, [50, 30], [5])
-    x̂ = updatestate!(mhe5, [10, 50], [50, 30], [5])
-    @test x̂ ≈ zeros(4) atol=1e-9
-    @test mhe5.x̂0 ≈ zeros(4) atol=1e-9
-    preparestate!(mhe5, [50, 30], [5])
-    @test evaloutput(mhe5, [5]) ≈ mhe5([5]) ≈ [50, 30]
-    info = getinfo(mhe5)
-    @test info[:x̂] ≈ x̂ atol=1e-9
-    @test info[:Ŷ][end-1:end] ≈ [50, 30] atol=1e-9
+@testitem "MHE estimation and getinfo (NonLinModel, TC)" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
+    using JuMP, Ipopt, DifferentiationInterface, SparseMatrixColorings, SparseConnectivityTracer
+    import ForwardDiff
 
     f! = (ẋ,x,u,_,_) -> ẋ .= -0.001x .+ u 
     h! = (y,x,_,_)   -> y .= x 
@@ -1292,6 +1342,16 @@ end
     info = getinfo(mhe7) # test getinfo when Nk<He 
     @test info[:Ŵ] ≈ [0.0, 0.0]
     @test info[:V̂] ≈ [0.0]
+end
+
+@testitem "MHE estimation and getinfo (NonLinModel, OC)" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
+    using JuMP, Ipopt, DifferentiationInterface, SparseMatrixColorings, SparseConnectivityTracer
+    import ForwardDiff
+
+    f! = (ẋ,x,u,_,_) -> ẋ .= -0.001x .+ u 
+    h! = (y,x,_,_)   -> y .= x 
+    nonlinmodel_c = NonLinModel(f!, h!, 500, 1, 1, 1)
 
     transcription = OrthogonalCollocation(f_threads=true, h_threads=true)
     mhe10 = MovingHorizonEstimator(
@@ -1313,38 +1373,7 @@ end
         updatestate!(mhe11, [-6], [13])
     end
     preparestate!(mhe11, [13])
-    @test mhe11() ≈ [13] atol=5e-3  
-
-    # coverage of the branch with error termination status (with an infeasible problem):
-    mhe_infeas = MovingHorizonEstimator(nonlinmodel, He=1, Cwt=Inf)
-    mhe_infeas = setconstraint!(mhe_infeas, v̂min=[1, 1], v̂max=[-1, -1]) 
-    @test_logs(
-        (:error, "MHE terminated without solution: estimation in open-loop "*
-                 "(more info in debug log)"), 
-        preparestate!(mhe_infeas, [0, 0], [0])
-    )
-
-    # for coverage of NLP functions, the univariate syntax of JuMP.@operator
-    mhe7 = MovingHorizonEstimator(nonlinmodel, He=1, Cwt=Inf)
-    setconstraint!(mhe7, v̂min=[-51,-52], v̂max=[53,54])
-    x̂ = preparestate!(mhe7, [50, 30], [5])
-    @test x̂ ≈ zeros(6) atol=1e-9
-    @test_nowarn ModelPredictiveControl.info2debugstr(info)
-    @test_throws ErrorException setstate!(mhe1, [1,2,3,4,5,6], diagm(.1:.1:.6))
-
-    hessian = AutoSparse(
-        AutoForwardDiff();
-        sparsity_detector=TracerSparsityDetector(),
-        coloring_algorithm=GreedyColoringAlgorithm(),
-    )
-
-    mhe8 = MovingHorizonEstimator(nonlinmodel; He=2, hessian)
-    @test_logs(
-        (:warn, "NaN values in the MHE measurements ym: ignoring them in the objective"),
-        preparestate!(mhe8, [50, NaN], [5])
-    )
-    @test mhe8.x̂0 ≈ zeros(6) atol=1e-9
-
+    @test mhe11() ≈ [13] atol=5e-3
 end
 
 @testitem "MHE estimation with unfilled window" setup=[SetupMPCtests] begin
diff --git a/test/3_test_predictive_control.jl b/test/3_test_predictive_control.jl
index 6f4f636e9..73d3a12d8 100644
--- a/test/3_test_predictive_control.jl
+++ b/test/3_test_predictive_control.jl
@@ -905,7 +905,7 @@ end
     @test_throws ArgumentError OrthogonalCollocation(2)
 end
 
-@testitem "NonLinMPC moves and getinfo (LinModel)" setup=[SetupMPCtests] begin
+@testitem "NonLinMPC moves and getinfo (LinModel, SS)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     using DifferentiationInterface
     import FiniteDiff
@@ -948,14 +948,6 @@ end
     preparestate!(nmpc6, [0])
     @test moveinput!(nmpc6, [0]) ≈ [0.0] atol=5e-2
     
-    nmpc9 = NonLinMPC(linmodel, Nwt=[0], Hp=100, Hc=1, transcription=MultipleShooting())
-    preparestate!(nmpc9, [10])
-    u = moveinput!(nmpc9, [20])
-    @test u ≈ [2] atol=5e-2
-    info = getinfo(nmpc9)
-    @test info[:u] ≈ u
-    @test info[:Ŷ][end] ≈ 20 atol=5e-2
-    
     # coverage of the branch with error termination status (with an infeasible problem):
     nmpc_infeas = NonLinMPC(linmodel, Hp=1, Hc=1, Cwt=Inf)
     nmpc_infeas = setconstraint!(nmpc_infeas, umin=[+1], umax=[-1])
@@ -969,7 +961,22 @@ end
     @test_nowarn ModelPredictiveControl.info2debugstr(info)
 end
 
-@testitem "NonLinMPC moves and getinfo (NonLinModel)" setup=[SetupMPCtests] begin
+@testitem "NonLinMPC moves and getinfo (LinModel, MS)" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    using DifferentiationInterface
+    import FiniteDiff
+    linmodel = setop!(LinModel(tf(5, [2000, 1]), 3000.0), yop=[10])
+    
+    nmpc9 = NonLinMPC(linmodel, Nwt=[0], Hp=100, Hc=1, transcription=MultipleShooting())
+    preparestate!(nmpc9, [10])
+    u = moveinput!(nmpc9, [20])
+    @test u ≈ [2] atol=5e-2
+    info = getinfo(nmpc9)
+    @test info[:u] ≈ u
+    @test info[:Ŷ][end] ≈ 20 atol=5e-2
+end
+
+@testitem "NonLinMPC moves and getinfo (NonLinModel, SS)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     using DifferentiationInterface
     import FiniteDiff
@@ -977,10 +984,6 @@ end
     f = (x,u,d,model) -> model.A*x + model.Bu*u + model.Bd*d
     h = (x,d,model)   -> model.C*x + model.Dd*d
     nonlinmodel = NonLinModel(f, h, 3000.0, 1, 2, 1, 1, solver=nothing, p=linmodel2)
-
-    f! = (ẋ,x,u,_,_) -> ẋ .= -0.001x .+ u 
-    h! = (y,x,_,_) -> y .= x 
-    nonlinmodel_c = NonLinModel(f!, h!, 500, 1, 1, 1)
     
     nmpc1 = NonLinMPC(nonlinmodel, Nwt=[0], Hp=100, Hc=1)
     preparestate!(nmpc1, [0], [0])
@@ -1004,6 +1007,43 @@ end
     u = moveinput!(nmpc3, [0], d, R̂u=fill(12, nmpc3.Hp))
     @test u ≈ [12] atol=5e-2
 
+    nonlinmodel2 = NonLinModel{Float32}(f, h, 3000.0, 1, 2, 1, 1, solver=nothing, p=linmodel2)
+    nmpc7  = NonLinMPC(nonlinmodel2, Hp=10)
+    y = similar(nonlinmodel2.yop)
+    ModelPredictiveControl.h!(y, nonlinmodel2, Float32[0,0], Float32[0], nonlinmodel2.p)
+    preparestate!(nmpc7, [0], [0])
+    @test moveinput!(nmpc7, [0], [0]) ≈ [0.0] atol=5e-2
+
+    nmpc10 = setconstraint!(NonLinMPC(
+        nonlinmodel, Nwt=[0], Hp=100, Hc=1, 
+        gradient=AutoFiniteDiff(),
+        jacobian=AutoFiniteDiff(),
+        hessian=AutoFiniteDiff()
+        ), ymax=[100], ymin=[-100]
+    )
+    preparestate!(nmpc10, [0], [0])
+    u = moveinput!(nmpc10, [10], [0])
+    @test u ≈ [2] atol=5e-2
+    info = getinfo(nmpc10)
+    @test info[:u] ≈ u
+    @test info[:Ŷ][end] ≈ 10 atol=5e-2
+    
+    nmpc11 = NonLinMPC(nonlinmodel, Hp=10, Hc=[1, 2, 3, 4], Nwt=[10])
+    preparestate!(nmpc11, y, [0])
+    moveinput!(nmpc11, [10], [0])
+    ΔU_diff = diff(getinfo(nmpc11)[:U])
+    @test ΔU_diff[[2, 4, 5, 7, 8, 9]] ≈ zeros(6) atol=1e-9
+end
+
+@testitem "NonLinMPC moves and getinfo (NonLinModel, MS)" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    using DifferentiationInterface
+    import FiniteDiff
+    linmodel2 = LinModel([tf(5, [2000, 1]) tf(7, [8000,1])], 3000.0, i_d=[2])
+    f = (x,u,d,model) -> model.A*x + model.Bu*u + model.Bd*d
+    h = (x,d,model)   -> model.C*x + model.Dd*d
+    nonlinmodel = NonLinModel(f, h, 3000.0, 1, 2, 1, 1, solver=nothing, p=linmodel2)
+
     transcription = MultipleShooting()
     nmpc4 = NonLinMPC(nonlinmodel; Nwt=[0], Hp=100, Hc=1, transcription)
     preparestate!(nmpc4, [0], [0])
@@ -1022,6 +1062,20 @@ end
     info = getinfo(nmpc4t)
     @test info[:u] ≈ u
     @test info[:Ŷ][end] ≈ 10 atol=5e-2
+end
+
+@testitem "NonLinMPC moves and getinfo (NonLinModel, TC)" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    using DifferentiationInterface
+    import FiniteDiff
+    linmodel2 = LinModel([tf(5, [2000, 1]) tf(7, [8000,1])], 3000.0, i_d=[2])
+    f = (x,u,d,model) -> model.A*x + model.Bu*u + model.Bd*d
+    h = (x,d,model)   -> model.C*x + model.Dd*d
+    nonlinmodel = NonLinModel(f, h, 3000.0, 1, 2, 1, 1, solver=nothing, p=linmodel2)
+
+    f! = (ẋ,x,u,_,_) -> ẋ .= -0.001x .+ u 
+    h! = (y,x,_,_) -> y .= x 
+    nonlinmodel_c = NonLinModel(f!, h!, 500, 1, 1, 1)
 
     transcription = TrapezoidalCollocation(0, f_threads=true, h_threads=true)
     nmpc5 = NonLinMPC(nonlinmodel_c; Nwt=[0], Hp=100, Hc=1, transcription)
@@ -1034,6 +1088,20 @@ end
     preparestate!(nmpc5_1, [0.0])
     u = moveinput!(nmpc5_1, [1/0.001])
     @test u ≈ [1.0] atol=5e-2
+end
+
+@testitem "NonLinMPC moves and getinfo (NonLinModel, OC)" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    using DifferentiationInterface
+    import FiniteDiff
+    linmodel2 = LinModel([tf(5, [2000, 1]) tf(7, [8000,1])], 3000.0, i_d=[2])
+    f = (x,u,d,model) -> model.A*x + model.Bu*u + model.Bd*d
+    h = (x,d,model)   -> model.C*x + model.Dd*d
+    nonlinmodel = NonLinModel(f, h, 3000.0, 1, 2, 1, 1, solver=nothing, p=linmodel2)
+
+    f! = (ẋ,x,u,_,_) -> ẋ .= -0.001x .+ u 
+    h! = (y,x,_,_) -> y .= x 
+    nonlinmodel_c = NonLinModel(f!, h!, 500, 1, 1, 1)
 
     transcription = OrthogonalCollocation(0, 4)
     nmpc6 = NonLinMPC(nonlinmodel_c; Nwt=[0], Hp=100, Hc=1, transcription)
@@ -1049,33 +1117,6 @@ end
     setstate!(nmpc6_1, [5.0])
     moveinput!(nmpc6_1)
     @test nmpc6_1.con.FS ≈ nmpc6_1.con.KS*nmpc6_1.estim.x̂0 # OC + IMC: special lin. eq. method
-    
-    nonlinmodel2 = NonLinModel{Float32}(f, h, 3000.0, 1, 2, 1, 1, solver=nothing, p=linmodel2)
-    nmpc7  = NonLinMPC(nonlinmodel2, Hp=10)
-    y = similar(nonlinmodel2.yop)
-    ModelPredictiveControl.h!(y, nonlinmodel2, Float32[0,0], Float32[0], nonlinmodel2.p)
-    preparestate!(nmpc7, [0], [0])
-    @test moveinput!(nmpc7, [0], [0]) ≈ [0.0] atol=5e-2
-
-    nmpc10 = setconstraint!(NonLinMPC(
-        nonlinmodel, Nwt=[0], Hp=100, Hc=1, 
-        gradient=AutoFiniteDiff(),
-        jacobian=AutoFiniteDiff(),
-        hessian=AutoFiniteDiff()
-        ), ymax=[100], ymin=[-100]
-    )
-    preparestate!(nmpc10, [0], [0])
-    u = moveinput!(nmpc10, [10], [0])
-    @test u ≈ [2] atol=5e-2
-    info = getinfo(nmpc10)
-    @test info[:u] ≈ u
-    @test info[:Ŷ][end] ≈ 10 atol=5e-2
-    
-    nmpc11 = NonLinMPC(nonlinmodel, Hp=10, Hc=[1, 2, 3, 4], Nwt=[10])
-    preparestate!(nmpc11, y, [0])
-    moveinput!(nmpc11, [10], [0])
-    ΔU_diff = diff(getinfo(nmpc11)[:U])
-    @test ΔU_diff[[2, 4, 5, 7, 8, 9]] ≈ zeros(6) atol=1e-9
 end
 
 @testitem "NonLinMPC step disturbance rejection" setup=[SetupMPCtests] begin

From cb53222c636b3f19fef98da90e567e725bc40527 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 11:02:39 -0400
Subject: [PATCH 05/40] test: remove useless test for MHE The univariate syntax
 of `@operator` is impossible for MHE

---
 test/2_test_state_estim.jl | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
index 1342b61be..e2c8d06a0 100644
--- a/test/2_test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -1253,11 +1253,6 @@ end
         preparestate!(mhe_infeas, [0, 0], [0])
     )
 
-    # for coverage of NLP functions, the univariate syntax of JuMP.@operator
-    mhe7 = MovingHorizonEstimator(nonlinmodel, He=1, Cwt=Inf)
-    setconstraint!(mhe7, v̂min=[-51,-52], v̂max=[53,54])
-    x̂ = preparestate!(mhe7, [50, 30], [5])
-    @test x̂ ≈ zeros(6) atol=1e-9
     @test_nowarn ModelPredictiveControl.info2debugstr(info)
     @test_throws ErrorException setstate!(mhe1, [1,2,3,4,5,6], diagm(.1:.1:.6))
 

From 500995230445ab03e0648ce04498400110c95e03 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 11:16:45 -0400
Subject: [PATCH 06/40] test: shorter titles

---
 test/2_test_state_estim.jl        | 18 +++++++++++++-----
 test/3_test_predictive_control.jl | 16 ++++++++--------
 2 files changed, 21 insertions(+), 13 deletions(-)

diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
index e2c8d06a0..28eddb991 100644
--- a/test/2_test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -1031,7 +1031,7 @@ end
     )
 end
 
-@testitem "MHE estimation and getinfo (LinModel)" setup=[SetupMPCtests] begin
+@testitem "MHE estim. & getinfo (LinModel, SS)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
     using JuMP, DAQP
     linmodel = LinModel(sys,Ts,i_u=[1,2], i_d=[3])
@@ -1123,6 +1123,14 @@ end
         updatestate!(mhe5, [10, 50], [50, NaN], [5])
     )
     
+end
+
+@testitem "MHE estim. & getinfo (LinModel, MS)" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
+    using JuMP, DAQP
+    linmodel = LinModel(sys,Ts,i_u=[1,2], i_d=[3])
+    linmodel = setop!(linmodel, uop=[10,50], yop=[50,30], dop=[5])
+
     mhe5 = MovingHorizonEstimator(linmodel, He=2, direct=true, transcription=MultipleShooting())
     for i in 1:40
         preparestate!(mhe5, [51, 32], [5])
@@ -1141,7 +1149,7 @@ end
 
 end
 
-@testitem "MHE estimation and getinfo (NonLinModel, SS)" setup=[SetupMPCtests] begin
+@testitem "MHE estim. & getinfo (NonLinModel, SS)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
     using JuMP, Ipopt, DifferentiationInterface, SparseMatrixColorings, SparseConnectivityTracer
     import ForwardDiff
@@ -1271,7 +1279,7 @@ end
 
 end
 
-@testitem "MHE estimation and getinfo (NonLinModel, MS)" setup=[SetupMPCtests] begin
+@testitem "MHE estim. & getinfo (NonLinModel, MS)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
     using JuMP, Ipopt, DifferentiationInterface, SparseMatrixColorings, SparseConnectivityTracer
     import ForwardDiff
@@ -1301,7 +1309,7 @@ end
     @test info[:V̂] ≈ [0.0, 0.0]
 end
 
-@testitem "MHE estimation and getinfo (NonLinModel, TC)" setup=[SetupMPCtests] begin
+@testitem "MHE estim. & getinfo (NonLinModel, TC)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
     using JuMP, Ipopt, DifferentiationInterface, SparseMatrixColorings, SparseConnectivityTracer
     import ForwardDiff
@@ -1339,7 +1347,7 @@ end
     @test info[:V̂] ≈ [0.0]
 end
 
-@testitem "MHE estimation and getinfo (NonLinModel, OC)" setup=[SetupMPCtests] begin
+@testitem "MHE estim. & getinfo (NonLinModel, OC)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
     using JuMP, Ipopt, DifferentiationInterface, SparseMatrixColorings, SparseConnectivityTracer
     import ForwardDiff
diff --git a/test/3_test_predictive_control.jl b/test/3_test_predictive_control.jl
index 73d3a12d8..37d73e0eb 100644
--- a/test/3_test_predictive_control.jl
+++ b/test/3_test_predictive_control.jl
@@ -89,7 +89,7 @@
     @test_throws DimensionMismatch LinMPC(model, Wy=ones(2, model.ny), Wu=ones(3, model.nu))
 end
 
-@testitem "LinMPC moves and getinfo" setup=[SetupMPCtests] begin
+@testitem "LinMPC moves & getinfo" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = setop!(LinModel(tf(5, [2, 1]), 3), yop=[10])
@@ -637,7 +637,7 @@ end
 
 end
 
-@testitem "ExplicitMPC moves and getinfo" setup=[SetupMPCtests] begin
+@testitem "ExplicitMPC moves & getinfo" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     model = LinModel(tf(5, [2, 1]), 3)
     mpc1 = ExplicitMPC(model, Nwt=[0], Hp=1000, Hc=1)
@@ -905,7 +905,7 @@ end
     @test_throws ArgumentError OrthogonalCollocation(2)
 end
 
-@testitem "NonLinMPC moves and getinfo (LinModel, SS)" setup=[SetupMPCtests] begin
+@testitem "NonLinMPC moves & getinfo (LinModel, SS)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     using DifferentiationInterface
     import FiniteDiff
@@ -961,7 +961,7 @@ end
     @test_nowarn ModelPredictiveControl.info2debugstr(info)
 end
 
-@testitem "NonLinMPC moves and getinfo (LinModel, MS)" setup=[SetupMPCtests] begin
+@testitem "NonLinMPC moves & getinfo (LinModel, MS)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     using DifferentiationInterface
     import FiniteDiff
@@ -976,7 +976,7 @@ end
     @test info[:Ŷ][end] ≈ 20 atol=5e-2
 end
 
-@testitem "NonLinMPC moves and getinfo (NonLinModel, SS)" setup=[SetupMPCtests] begin
+@testitem "NonLinMPC moves & getinfo (NonLinModel, SS)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     using DifferentiationInterface
     import FiniteDiff
@@ -1035,7 +1035,7 @@ end
     @test ΔU_diff[[2, 4, 5, 7, 8, 9]] ≈ zeros(6) atol=1e-9
 end
 
-@testitem "NonLinMPC moves and getinfo (NonLinModel, MS)" setup=[SetupMPCtests] begin
+@testitem "NonLinMPC moves & getinfo (NonLinModel, MS)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     using DifferentiationInterface
     import FiniteDiff
@@ -1064,7 +1064,7 @@ end
     @test info[:Ŷ][end] ≈ 10 atol=5e-2
 end
 
-@testitem "NonLinMPC moves and getinfo (NonLinModel, TC)" setup=[SetupMPCtests] begin
+@testitem "NonLinMPC moves & getinfo (NonLinModel, TC)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     using DifferentiationInterface
     import FiniteDiff
@@ -1090,7 +1090,7 @@ end
     @test u ≈ [1.0] atol=5e-2
 end
 
-@testitem "NonLinMPC moves and getinfo (NonLinModel, OC)" setup=[SetupMPCtests] begin
+@testitem "NonLinMPC moves & getinfo (NonLinModel, OC)" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     using DifferentiationInterface
     import FiniteDiff

From 6a25b0b92947f0fb7625826e410bc572928f6615 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 11:18:34 -0400
Subject: [PATCH 07/40] doc: less finicky `jldoctest`

---
 src/sim_model.jl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/sim_model.jl b/src/sim_model.jl
index 15ed1595e..9a63db123 100644
--- a/src/sim_model.jl
+++ b/src/sim_model.jl
@@ -312,7 +312,7 @@ julia> function sim_realtime!(model)
            t_0 = time()
            for i=1:3
                t = savetime!(model)      # first function called
-               println(round(t - t_0, digits=3))
+               println(round(t - t_0, digits=2))
                updatestate!(model, [1])
                periodsleep(model, true)  # last function called
            end

From 308c47bab33628b301671ed771b2e3411b7a837c Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 11:38:08 -0400
Subject: [PATCH 08/40] test: small `Aqua` tests

---
 test/7_test_aqua.jl | 55 ++++++++++++++++++++++++++++++++++++++-------
 1 file changed, 47 insertions(+), 8 deletions(-)

diff --git a/test/7_test_aqua.jl b/test/7_test_aqua.jl
index 2eca61e33..754ca3317 100644
--- a/test/7_test_aqua.jl
+++ b/test/7_test_aqua.jl
@@ -1,9 +1,48 @@
-@testitem "Aqua" begin
-    using Aqua
-    # All the functions defined inside `ModelPredictiveControl.get_nonlinobj_op` with the 
-    # `Vararg`s have unbound type parameters. This is necessary for the splatting syntax of
-    # `JuMP.@operator`, and JuMP will never call these functions with 0 argument, so
-    # defining zero-argument methods would be useless, so I disable this check here.
-    unbound_args = false
-    Aqua.test_all(ModelPredictiveControl; unbound_args)
+@testitem "Aqua ambiguities" begin
+    using Aqua
+    Aqua.test_ambiguities(ModelPredictiveControl)
+end
+
+### All the functions defined inside `ModelPredictiveControl.get_nonlinobj_op` with the 
+### `Vararg`s have unbound type parameters. This is necessary for the splatting syntax of
+### `JuMP.@operator`, and JuMP will never call these functions with 0 argument, so
+### defining zero-argument methods would be useless, so I disable this check here.
+# @testitem "Aqua unbound args" begin
+#     using Aqua
+#     Aqua.test_unbound_args(ModelPredictiveControl)
+# end
+
+@testitem "Aqua undefined exports" begin
+    using Aqua
+    Aqua.test_undefined_exports(ModelPredictiveControl)
+end
+
+@testitem "Aqua project extras" begin
+    using Aqua
+    Aqua.test_project_extras(ModelPredictiveControl)
+end
+
+@testitem "Aqua stale deps" begin
+    using Aqua
+    Aqua.test_stale_deps(ModelPredictiveControl)
+end
+
+@testitem "Aqua deps compat" begin
+    using Aqua
+    Aqua.test_deps_compat(ModelPredictiveControl)
+end
+
+@testitem "Aqua piracies" begin
+    using Aqua
+    Aqua.test_piracies(ModelPredictiveControl)
+end
+
+@testitem "Aqua persistent tasks" begin
+    using Aqua
+    Aqua.test_persistent_tasks(ModelPredictiveControl)
+end
+
+@testitem "Aqua undocumented names" begin
+    using Aqua
+    Aqua.test_undocumented_names(ModelPredictiveControl)
 end
\ No newline at end of file

From aac8d565dab965b5767c396ae89c967e139e1c0d Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 11:44:12 -0400
Subject: [PATCH 09/40] test: less finicky soft real-time measurements

---
 test/1_test_sim_model.jl          | 4 ++--
 test/2_test_state_estim.jl        | 2 +-
 test/3_test_predictive_control.jl | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/test/1_test_sim_model.jl b/test/1_test_sim_model.jl
index e2eabb750..bd480f8c8 100644
--- a/test/1_test_sim_model.jl
+++ b/test/1_test_sim_model.jl
@@ -152,7 +152,7 @@ end
         updatestate!(linmodel2, [1])
         periodsleep(linmodel2, true)
     end
-    @test all(isapprox.(diff(times2[2:end]), 0.25, atol=0.0001))
+    @test all(isapprox.(diff(times2[2:end]), 0.25, atol=0.025))
 end
 
 @testitem "NonLinModel construction" setup=[SetupMPCtests] begin
@@ -419,5 +419,5 @@ end
         updatestate!(nonlinmodel2, [1])
         periodsleep(nonlinmodel2, true)
     end
-    @test all(isapprox.(diff(times2[2:end]), 0.25, atol=0.0001))
+    @test all(isapprox.(diff(times2[2:end]), 0.25, atol=0.025))
 end
\ No newline at end of file
diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
index 28eddb991..06e3b6267 100644
--- a/test/2_test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -149,7 +149,7 @@ end
         updatestate!(kalmanfilter1, [1], [1])
         periodsleep(kalmanfilter1, true)
     end
-    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.01))
+    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.025))
 end
     
 @testitem "KF construction" setup=[SetupMPCtests] begin
diff --git a/test/3_test_predictive_control.jl b/test/3_test_predictive_control.jl
index 37d73e0eb..134466046 100644
--- a/test/3_test_predictive_control.jl
+++ b/test/3_test_predictive_control.jl
@@ -581,7 +581,7 @@ end
 
 @testitem "LinMPC real-time simulations" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
-    linmodel1 = LinModel(tf(2, [10, 1]), 0.1)
+    linmodel1 = LinModel(tf(2, [10, 1]), 0.25)
     mpc1 = LinMPC(linmodel1)
     times1 = zeros(5)
     for i=1:5
@@ -590,7 +590,7 @@ end
         updatestate!(mpc1, [1], [1])
         periodsleep(mpc1, true)
     end
-    @test all(isapprox.(diff(times1[2:end]), 0.1, atol=0.01))
+    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.025))
 end
 
 @testitem "ExplicitMPC construction" setup=[SetupMPCtests] begin

From 4bb82fce0ae19126626a41f51ee0aefca7a62538 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 12:14:32 -0400
Subject: [PATCH 10/40] test: shorter names

---
 test/2_test_state_estim.jl | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
index 06e3b6267..0c63d8016 100644
--- a/test/2_test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -1379,7 +1379,7 @@ end
     @test mhe11() ≈ [13] atol=5e-3
 end
 
-@testitem "MHE estimation with unfilled window" setup=[SetupMPCtests] begin
+@testitem "MHE estim. with unfilled window" setup=[SetupMPCtests] begin
     f(x,u,_,_) = 0.5x + u
     h(x,_,_) = x
     model = NonLinModel(f, h, 10.0, 1, 1, 1, solver=nothing)
@@ -1405,7 +1405,7 @@ end
     
 end
 
-@testitem "MHE fallbacks for arrival covariance estimation" setup=[SetupMPCtests] begin
+@testitem "MHE fallbacks for arrival covariance" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = setop!(LinModel(sys,Ts,i_u=[1,2], i_d=[3]), uop=[10,50], yop=[50,30], dop=[5])
     f(x,u,d,model) = model.A*x + model.Bu*u + model.Bd*d

From 667a7b23506bbbe351538bd4265864b91f734a25 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 13:12:31 -0400
Subject: [PATCH 11/40] test: timeout from 1200 -> 3600

---
 .github/workflows/juliaci.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index f98f6dc88..a32b422a3 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,6 +15,7 @@ jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
     with:
+      testitem-timeout: 3600 # some Aqua tests are long (default 1200 is nor enough)
       include-rc-versions: true
       include-windows-x86: false
       include-linux-x86: false

From b6eb1e0b303471e5d7d0cf17cfe7aad95cf0fb22 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 13:12:53 -0400
Subject: [PATCH 12/40] test: include Linux x86

---
 .github/workflows/juliaci.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index a32b422a3..9d569befb 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -18,7 +18,6 @@ jobs:
       testitem-timeout: 3600 # some Aqua tests are long (default 1200 is nor enough)
       include-rc-versions: true
       include-windows-x86: false
-      include-linux-x86: false
       include-macos-x64: false
     permissions: write-all
     secrets:

From 933d70dc3db483b77964dfead4b67396f02a7eec Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 14:19:27 -0400
Subject: [PATCH 13/40] test: debug `jldoctest` for `x86` platforms

---
 src/estimator/construct.jl | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/src/estimator/construct.jl b/src/estimator/construct.jl
index 328593021..c7f187787 100644
--- a/src/estimator/construct.jl
+++ b/src/estimator/construct.jl
@@ -359,11 +359,8 @@ and unstable `model` (see Examples).
 ```jldoctest
 julia> model = LinModel(append(tf(3, [10, 1]), tf(2, [1, 0]), tf(4,[-5, 1])), 1.0);
 
-julia> nint_ym = default_nint(model)
-3-element Vector{Int64}:
- 1
- 0
- 1
+julia> default_nint(model) |> println
+[1, 0, 1]
 ```
 """
 function default_nint(model::LinModel, i_ym=1:model.ny, nint_u=0)

From c7dab4e66afe2c347b8a8f64b1e38147e8439462 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 14:32:25 -0400
Subject: [PATCH 14/40] test: skipping all x86 jobs for now There is a bug in
 DAQP.jl on x86. I can add a `skip` option on x86, but the skip option is not
 released yet.

---
 .github/workflows/juliaci.yml | 1 +
 test/5_test_extensions.jl     | 1 +
 2 files changed, 2 insertions(+)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index 9d569befb..a32b422a3 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -18,6 +18,7 @@ jobs:
       testitem-timeout: 3600 # some Aqua tests are long (default 1200 is nor enough)
       include-rc-versions: true
       include-windows-x86: false
+      include-linux-x86: false
       include-macos-x64: false
     permissions: write-all
     secrets:
diff --git a/test/5_test_extensions.jl b/test/5_test_extensions.jl
index 1384c0bd5..ee4ec83be 100644
--- a/test/5_test_extensions.jl
+++ b/test/5_test_extensions.jl
@@ -1,3 +1,4 @@
+# TODO: add `skip=(Sys.ARCH==:x86)` because bug in DAQP.jl, and activate Linux x86 CI job in juliaci.yml
 @testitem "LinearMPCext general" setup=[SetupMPCtests] begin
     using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, DAQP
     import LinearMPC

From 8d12b73c16ff7fa737e7a7b25de301834f001fe6 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 17:13:54 -0400
Subject: [PATCH 15/40] test: loosen tolerances for MHE v.s. KF tests

---
 test/2_test_state_estim.jl | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
index 0c63d8016..8e590673e 100644
--- a/test/2_test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -1832,7 +1832,7 @@ end
         updatestate!(mhe, [11, 50], y, [25])
         updatestate!(kf,  [11, 50], y, [25])
     end
-    @test X̂_mhe ≈ X̂_kf atol=1e-6 rtol=1e-6
+    @test X̂_mhe ≈ X̂_kf atol=1e-3 rtol=1e-3
     kf  = KalmanFilter(linmodel, nint_ym=0, direct=true)
     # recuperate P̂(-1|-1) exact value using the Kalman filter:
     preparestate!(kf, [50, 30], [20])
@@ -1850,7 +1850,7 @@ end
         updatestate!(mhe, [11, 50], y, [25])
         updatestate!(kf,  [11, 50], y, [25])
     end
-    @test X̂_mhe ≈ X̂_kf atol=1e-6 rtol=1e-6
+    @test X̂_mhe ≈ X̂_kf atol=1e-3 rtol=1e-3
 
     f = (x,u,d,model) -> model.A*x + model.Bu*u + model.Bd*d
     h = (x,d,model)   -> model.C*x + model.Dd*d
@@ -1874,8 +1874,8 @@ end
         updatestate!(ukf, [11, 50], y, [25])
         updatestate!(ekf, [11, 50], y, [25])
     end
-    @test X̂_mhe ≈ X̂_ukf atol=1e-6 rtol=1e-6
-    @test X̂_mhe ≈ X̂_ekf atol=1e-6 rtol=1e-6
+    @test X̂_mhe ≈ X̂_ukf atol=1e-3 rtol=1e-3
+    @test X̂_mhe ≈ X̂_ekf atol=1e-3 rtol=1e-3
     
     ukf = UnscentedKalmanFilter(nonlinmodel, nint_ym=0, direct=true)
     ekf = ExtendedKalmanFilter(nonlinmodel, nint_ym=0, direct=true)
@@ -1901,8 +1901,8 @@ end
         updatestate!(ukf, [11, 50], y, [25])
         updatestate!(ekf, [11, 50], y, [25])
     end
-    @test X̂_mhe ≈ X̂_ukf atol=1e-6 rtol=1e-6
-    @test X̂_mhe ≈ X̂_ekf atol=1e-6 rtol=1e-6 
+    @test X̂_mhe ≈ X̂_ukf atol=1e-3 rtol=1e-3
+    @test X̂_mhe ≈ X̂_ekf atol=1e-3 rtol=1e-3 
 end
 
 @testitem "MHE LinModel v.s. NonLinModel" setup=[SetupMPCtests] begin

From ac4f22e5b7334ce6a04b648c0e4a79ba740e01aa Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 17:31:08 -0400
Subject: [PATCH 16/40] test : wip debugging last test on MacOS lts

---
 test/2_test_state_estim.jl | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
index 8e590673e..fb93fa0ad 100644
--- a/test/2_test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -1624,8 +1624,9 @@ end
     linmodel2 = LinModel(sys, Ts, i_u=[1,2], i_d=[3])
     linmodel2 = setop!(linmodel2, uop=[10,50], yop=[50,30], dop=[5])
     function gclv!(LHS, X̂e, _, _, _, _, _, _, _, nx̂, _ )
-        for i in 1:div(length(X̂e), nx̂)
-            LHS[(i-1)+1] = 0.5 - X̂e[(i-1)*nx̂ + 1]  # First state >= 0.5
+        nc_Nk = length(X̂e) ÷ nx̂
+        for i in 1:nc_Nk
+            LHS[i] = 0.5 - X̂e[(i-1)*nx̂ + 1]  # First state >= 0.5
         end
         return nothing
     end
@@ -1710,8 +1711,9 @@ end
     nonlinmodel2 = NonLinModel(f, h, Ts, 2, 4, 2, 1, solver=nothing, p=linmodel2)
     nonlinmodel2 = setop!(nonlinmodel2, uop=[10,50], yop=[50,30], dop=[5])
     function gcnlv!(LHS, X̂e, _, _, _, _, _, _, _, nx̂, _)
-        for i in 1:div(length(X̂e), nx̂)
-            LHS[(i-1)+1] = 0.5 - X̂e[(i-1)*nx̂ + 1]  # First state >= 0.5
+        nc_Nk = length(X̂e) ÷ nx̂
+        for i in 1:nc_Nk
+            LHS[i] = 0.5 - X̂e[(i-1)*nx̂ + 1]  # First state >= 0.5
         end
         return nothing
     end

From 7255d9f1e43fef08b6b28f784d8b3ff2acac1d05 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 17:34:12 -0400
Subject: [PATCH 17/40] test: debug `gc` tests on MHE 90% sure that it was
 reading un-initialized values in the `gc` vector when `Nk < He`.

---
 test/2_test_state_estim.jl | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
index fb93fa0ad..7bf2c7885 100644
--- a/test/2_test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -1625,6 +1625,7 @@ end
     linmodel2 = setop!(linmodel2, uop=[10,50], yop=[50,30], dop=[5])
     function gclv!(LHS, X̂e, _, _, _, _, _, _, _, nx̂, _ )
         nc_Nk = length(X̂e) ÷ nx̂
+        LHS .= 0 # for when Nk < He, fill unused values with 0s
         for i in 1:nc_Nk
             LHS[i] = 0.5 - X̂e[(i-1)*nx̂ + 1]  # First state >= 0.5
         end
@@ -1712,6 +1713,7 @@ end
     nonlinmodel2 = setop!(nonlinmodel2, uop=[10,50], yop=[50,30], dop=[5])
     function gcnlv!(LHS, X̂e, _, _, _, _, _, _, _, nx̂, _)
         nc_Nk = length(X̂e) ÷ nx̂
+        LHS .= 0 # for when Nk < He, fill unused values with 0s
         for i in 1:nc_Nk
             LHS[i] = 0.5 - X̂e[(i-1)*nx̂ + 1]  # First state >= 0.5
         end

From 04cd48cd2a545410f0952bd05d2dd9cd6967466d Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 20:15:38 -0400
Subject: [PATCH 18/40] test: disabling timeout altogether It seems, one of my
 test timeout even if it all passes.

---
 .github/workflows/juliaci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index a32b422a3..8f1aca89a 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,7 +15,7 @@ jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
     with:
-      testitem-timeout: 3600 # some Aqua tests are long (default 1200 is nor enough)
+      testitem-timeout: 0
       include-rc-versions: true
       include-windows-x86: false
       include-linux-x86: false

From ac7193939abfb8cf58c0855109884675f6e34b0b Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 20:27:25 -0400
Subject: [PATCH 19/40] test: idem, trying `null`

---
 .github/workflows/juliaci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index 8f1aca89a..a638e76d1 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,7 +15,7 @@ jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
     with:
-      testitem-timeout: 0
+      testitem-timeout: null
       include-rc-versions: true
       include-windows-x86: false
       include-linux-x86: false

From 33f15b418916f2c6ab41919a8977dc4adb60e735 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 20:29:17 -0400
Subject: [PATCH 20/40] test: same, trying empty string

---
 .github/workflows/juliaci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index a638e76d1..ef6677fae 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,7 +15,7 @@ jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
     with:
-      testitem-timeout: null
+      testitem-timeout:
       include-rc-versions: true
       include-windows-x86: false
       include-linux-x86: false

From 3bfc76c8dd11568e3d15cf4ec1ec37e0209f3a1b Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 20:30:28 -0400
Subject: [PATCH 21/40] test: trying back 3600

---
 .github/workflows/juliaci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index ef6677fae..ea09a233e 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,7 +15,7 @@ jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
     with:
-      testitem-timeout:
+      testitem-timeout: 3600
       include-rc-versions: true
       include-windows-x86: false
       include-linux-x86: false

From 6cbd01b4031f5495b0e6e0416fd4f93617597435 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 20:30:54 -0400
Subject: [PATCH 22/40] test: trying Inf

---
 .github/workflows/juliaci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index ea09a233e..8cecdd35a 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,7 +15,7 @@ jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
     with:
-      testitem-timeout: 3600
+      testitem-timeout: Inf
       include-rc-versions: true
       include-windows-x86: false
       include-linux-x86: false

From 07b9fcd5f502ab935baf8946ded5490f8e2a0b12 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 22:38:17 -0400
Subject: [PATCH 23/40] test: trying -1

---
 .github/workflows/juliaci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index 8cecdd35a..6dcc7fa19 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,7 +15,7 @@ jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
     with:
-      testitem-timeout: Inf
+      testitem-timeout: -1
       include-rc-versions: true
       include-windows-x86: false
       include-linux-x86: false

From f680aa0578115eca15e2957d7140584073b71fb0 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 20 Aug 2026 22:53:31 -0400
Subject: [PATCH 24/40] test: going back to 3600

---
 .github/workflows/juliaci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index 6dcc7fa19..ea09a233e 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,7 +15,7 @@ jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
     with:
-      testitem-timeout: -1
+      testitem-timeout: 3600
       include-rc-versions: true
       include-windows-x86: false
       include-linux-x86: false

From 61398a60d4279386fb0f7ba838c1cda0d59b1697 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Fri, 21 Aug 2026 09:05:07 -0400
Subject: [PATCH 25/40] bench: result on summary Since the CI is now also
 there.

---
 .github/workflows/benchmark.yml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/benchmark.yml b/.github/workflows/benchmark.yml
index 49c57a06e..0cee71d87 100644
--- a/.github/workflows/benchmark.yml
+++ b/.github/workflows/benchmark.yml
@@ -3,8 +3,6 @@ on:
   pull_request_target:
     branches: [ main ]
     types: [labeled, opened, synchronize, reopened]
-permissions:
-  pull-requests: write    # needed to post comments
 jobs:
   bench:
     runs-on: ubuntu-latest
@@ -12,4 +10,5 @@ jobs:
     steps:
       - uses: MilesCranmer/AirspeedVelocity.jl@action-v1
         with:
-          julia-version: '1'
\ No newline at end of file
+          julia-version: '1'
+          job-summary: 'true'
\ No newline at end of file

From a248ea8e4a3d17a3c005a92cf48d59a1d8336561 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Fri, 21 Aug 2026 15:39:22 -0400
Subject: [PATCH 26/40] test: looser tolerance for soft real-time

---
 test/1_test_sim_model.jl          | 8 ++++----
 test/2_test_state_estim.jl        | 2 +-
 test/3_test_predictive_control.jl | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/test/1_test_sim_model.jl b/test/1_test_sim_model.jl
index bd480f8c8..8a618b864 100644
--- a/test/1_test_sim_model.jl
+++ b/test/1_test_sim_model.jl
@@ -144,7 +144,7 @@ end
         updatestate!(linmodel1, [1])
         periodsleep(linmodel1)
     end
-    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.025))
+    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.05))
     linmodel2 = LinModel(tf(2, [0.1, 1]), 0.25)
     times2 = zeros(5)
     for i=1:5
@@ -152,7 +152,7 @@ end
         updatestate!(linmodel2, [1])
         periodsleep(linmodel2, true)
     end
-    @test all(isapprox.(diff(times2[2:end]), 0.25, atol=0.025))
+    @test all(isapprox.(diff(times2[2:end]), 0.25, atol=0.05))
 end
 
 @testitem "NonLinModel construction" setup=[SetupMPCtests] begin
@@ -406,7 +406,7 @@ end
         updatestate!(nonlinmodel1, [1])
         periodsleep(nonlinmodel1)
     end
-    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.025))
+    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.05))
     linmodel2 = LinModel(tf(2, [0.1, 1]), 0.25)
     nonlinmodel2 = NonLinModel(
         (x,u,_,_)->linmodel2.A*x + linmodel2.Bu*u,
@@ -419,5 +419,5 @@ end
         updatestate!(nonlinmodel2, [1])
         periodsleep(nonlinmodel2, true)
     end
-    @test all(isapprox.(diff(times2[2:end]), 0.25, atol=0.025))
+    @test all(isapprox.(diff(times2[2:end]), 0.25, atol=0.05))
 end
\ No newline at end of file
diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
index 7bf2c7885..b920e0d06 100644
--- a/test/2_test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -149,7 +149,7 @@ end
         updatestate!(kalmanfilter1, [1], [1])
         periodsleep(kalmanfilter1, true)
     end
-    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.025))
+    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.05))
 end
     
 @testitem "KF construction" setup=[SetupMPCtests] begin
diff --git a/test/3_test_predictive_control.jl b/test/3_test_predictive_control.jl
index 134466046..83ba626e7 100644
--- a/test/3_test_predictive_control.jl
+++ b/test/3_test_predictive_control.jl
@@ -590,7 +590,7 @@ end
         updatestate!(mpc1, [1], [1])
         periodsleep(mpc1, true)
     end
-    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.025))
+    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.05))
 end
 
 @testitem "ExplicitMPC construction" setup=[SetupMPCtests] begin

From 64c8ea3de484e9a2684f8e854cb8dfcf2706eeb4 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Fri, 21 Aug 2026 15:39:50 -0400
Subject: [PATCH 27/40] test: removing Aqua persistent tasks Not necessary for
 this package

---
 test/7_test_aqua.jl | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/test/7_test_aqua.jl b/test/7_test_aqua.jl
index 754ca3317..fb907c80b 100644
--- a/test/7_test_aqua.jl
+++ b/test/7_test_aqua.jl
@@ -37,10 +37,12 @@ end
     Aqua.test_piracies(ModelPredictiveControl)
 end
 
-@testitem "Aqua persistent tasks" begin
-    using Aqua
-    Aqua.test_persistent_tasks(ModelPredictiveControl)
-end
+### This package does not use a __init__ function, and will very likely never use one,
+### so the persistent task test is useless (and slow, because of the long precompilation)
+# @testitem "Aqua persistent tasks" begin
+#     using Aqua
+#     Aqua.test_persistent_tasks(ModelPredictiveControl)
+# end
 
 @testitem "Aqua undocumented names" begin
     using Aqua

From b0faa5197d6630af1f11aa435e333b80601ef058 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Fri, 21 Aug 2026 20:21:23 -0400
Subject: [PATCH 28/40] doc: regex to improve `jldoctest` robustness

---
 src/sim_model.jl | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/sim_model.jl b/src/sim_model.jl
index 9a63db123..ffdb9f6e7 100644
--- a/src/sim_model.jl
+++ b/src/sim_model.jl
@@ -289,7 +289,7 @@ function savetime!(model::SimModel)
     return model.t[]
 end
 
-"""
+@doc raw"""
     periodsleep(model::SimModel, busywait=false) -> nothing
 
 Sleep for `model.Ts` s minus the time elapsed since the last call to [`savetime!`](@ref).
@@ -305,7 +305,7 @@ simple soft real-time simulations, see the example below.
     restart it at a convenient time e.g.: just before calling `periodsleep`.
 
 # Examples
-```jldoctest
+```jldoctest; filter = r"(\d+\.\d)\d*" => s"\1"
 julia> model = LinModel(tf(2, [0.3, 1]), 0.25);
 
 julia> function sim_realtime!(model)

From 78a6878e825f5bb171b755cdeaaeb8347cb8b952 Mon Sep 17 00:00:00 2001
From: Francis Gagnon <34136215+franckgaga@users.noreply.github.com>
Date: Sun, 23 Aug 2026 16:47:31 -0400
Subject: [PATCH 29/40] bench: add permissions for pull request comments in
 benchmark.yml

---
 .github/workflows/benchmark.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/benchmark.yml b/.github/workflows/benchmark.yml
index 0cee71d87..821c0aad6 100644
--- a/.github/workflows/benchmark.yml
+++ b/.github/workflows/benchmark.yml
@@ -3,6 +3,8 @@ on:
   pull_request_target:
     branches: [ main ]
     types: [labeled, opened, synchronize, reopened]
+permissions:
+  pull-requests: write    # needed to post comments
 jobs:
   bench:
     runs-on: ubuntu-latest
@@ -11,4 +13,4 @@ jobs:
       - uses: MilesCranmer/AirspeedVelocity.jl@action-v1
         with:
           julia-version: '1'
-          job-summary: 'true'
\ No newline at end of file
+          job-summary: 'true'

From a33dfc46bd55df21f5d100aad4d15c9767d0a26e Mon Sep 17 00:00:00 2001
From: Francis Gagnon <34136215+franckgaga@users.noreply.github.com>
Date: Mon, 24 Aug 2026 08:00:29 -0400
Subject: [PATCH 30/40] bench: revert changes in the files

Results on summary instead of comments does not seems to work
---
 .github/workflows/benchmark.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/benchmark.yml b/.github/workflows/benchmark.yml
index 821c0aad6..788c19ffa 100644
--- a/.github/workflows/benchmark.yml
+++ b/.github/workflows/benchmark.yml
@@ -13,4 +13,3 @@ jobs:
       - uses: MilesCranmer/AirspeedVelocity.jl@action-v1
         with:
           julia-version: '1'
-          job-summary: 'true'

From c9b37432319edecdde7926a02401d7f613ca30af Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Tue, 25 Aug 2026 16:35:45 -0400
Subject: [PATCH 31/40] test: removing timeout config It should default to "no
 timeout" right now

---
 .github/workflows/juliaci.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index ea09a233e..f98f6dc88 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,7 +15,6 @@ jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
     with:
-      testitem-timeout: 3600
       include-rc-versions: true
       include-windows-x86: false
       include-linux-x86: false

From dfe7e21eff1e9642262e5b692f8ec79c65da4357 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Tue, 25 Aug 2026 22:33:52 -0400
Subject: [PATCH 32/40] test: trying memory treshold It may help for MacOS jobs

---
 .github/workflows/juliaci.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index f98f6dc88..a1c88592b 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,6 +15,7 @@ jobs:
   julia-ci:
     uses: julia-testitems/testitem-workflow/.github/workflows/juliaci.yml@v2
     with:
+      memory-threshold: 0.9
       include-rc-versions: true
       include-windows-x86: false
       include-linux-x86: false

From 52ee07a4559ffe357cf80a2b34713fd0288ee894 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Wed, 26 Aug 2026 15:36:40 -0400
Subject: [PATCH 33/40] doc: no `jldoctest` for `periodsleep` This is too
 finicky on some platforms e.g. MacOS.

---
 src/sim_model.jl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/sim_model.jl b/src/sim_model.jl
index ffdb9f6e7..a8a76cfaa 100644
--- a/src/sim_model.jl
+++ b/src/sim_model.jl
@@ -305,7 +305,7 @@ simple soft real-time simulations, see the example below.
     restart it at a convenient time e.g.: just before calling `periodsleep`.
 
 # Examples
-```jldoctest; filter = r"(\d+\.\d)\d*" => s"\1"
+```julia-repl
 julia> model = LinModel(tf(2, [0.3, 1]), 0.25);
 
 julia> function sim_realtime!(model)

From 6d3c194b55b645c831c2008c9a521393ebcd32a7 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 27 Aug 2026 10:19:00 -0400
Subject: [PATCH 34/40] doc: add signuature headers on abstract types

---
 src/predictive_control.jl | 2 ++
 src/sim_model.jl          | 2 ++
 src/state_estim.jl        | 2 ++
 src/transcription.jl      | 2 ++
 4 files changed, 8 insertions(+)

diff --git a/src/predictive_control.jl b/src/predictive_control.jl
index 981f6dd28..3772d4ade 100644
--- a/src/predictive_control.jl
+++ b/src/predictive_control.jl
@@ -1,4 +1,6 @@
 @doc raw"""
+    abstract type PredictiveController end
+
 Abstract supertype of all predictive controllers.
 
 ---
diff --git a/src/sim_model.jl b/src/sim_model.jl
index a8a76cfaa..ef70d4f9a 100644
--- a/src/sim_model.jl
+++ b/src/sim_model.jl
@@ -1,4 +1,6 @@
 @doc raw"""
+    abstract type SimModel end
+
 Abstract supertype of [`LinModel`](@ref) and [`NonLinModel`](@ref) types.
 
 ---
diff --git a/src/state_estim.jl b/src/state_estim.jl
index c4beb6f89..1c5943147 100644
--- a/src/state_estim.jl
+++ b/src/state_estim.jl
@@ -1,4 +1,6 @@
 @doc raw"""
+    abstract type StateEstimator end
+
 Abstract supertype of all state estimators.
 
 ---
diff --git a/src/transcription.jl b/src/transcription.jl
index ac82730ba..f80078830 100644
--- a/src/transcription.jl
+++ b/src/transcription.jl
@@ -1,6 +1,8 @@
 const COLLOCATION_NODE_TYPE = Float64
 
 """
+    abstract type TranscriptionMethod end
+
 Abstract supertype of all transcription methods for the optimization problems.
 
 The module currently supports [`SingleShooting`](@ref), [`MultipleShooting`](@ref),

From 316644abe35c18fe7768e57932a32899fea220a2 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 27 Aug 2026 10:20:38 -0400
Subject: [PATCH 35/40] doc: moving linear term update in misc. section

---
 docs/src/internals/misc.md               | 8 ++++++++
 docs/src/internals/predictive_control.md | 8 --------
 docs/src/internals/state_estim.md        | 7 -------
 src/controller/transcription.jl          | 2 +-
 src/estimator/mhe/transcription.jl       | 2 +-
 5 files changed, 10 insertions(+), 17 deletions(-)

diff --git a/docs/src/internals/misc.md b/docs/src/internals/misc.md
index a1eba67e9..7a1e699e8 100644
--- a/docs/src/internals/misc.md
+++ b/docs/src/internals/misc.md
@@ -9,3 +9,11 @@ Pages = ["misc.md"]
 ```@docs
 ModelPredictiveControl.init_orthocolloc
 ```
+
+## Update Optimization Linear Terms
+
+```@docs
+ModelPredictiveControl.initpred!
+ModelPredictiveControl.linconstraint!
+ModelPredictiveControl.linconstrainteq!
+```
diff --git a/docs/src/internals/predictive_control.md b/docs/src/internals/predictive_control.md
index f5ea36706..7f843c2ff 100644
--- a/docs/src/internals/predictive_control.md
+++ b/docs/src/internals/predictive_control.md
@@ -30,14 +30,6 @@ ModelPredictiveControl.get_nonlinobj_op(::NonLinMPC, ::ModelPredictiveControl.Ge
 ModelPredictiveControl.get_nonlincon_oracle(::NonLinMPC, ::ModelPredictiveControl.GenericModel)
 ```
 
-## Update Quadratic Optimization
-
-```@docs
-ModelPredictiveControl.initpred!(::PredictiveController, ::LinModel, ::Any, ::Any, ::Any, ::Any, ::Any, ::Any)
-ModelPredictiveControl.linconstraint!(::PredictiveController, ::LinModel, ::TranscriptionMethod)
-ModelPredictiveControl.linconstrainteq!
-```
-
 ## Solve Optimization Problem
 
 ```@docs
diff --git a/docs/src/internals/state_estim.md b/docs/src/internals/state_estim.md
index d6269e70e..359299bfe 100644
--- a/docs/src/internals/state_estim.md
+++ b/docs/src/internals/state_estim.md
@@ -101,13 +101,6 @@ ModelPredictiveControl.correct_estimate!
 ModelPredictiveControl.update_estimate!
 ```
 
-## Update Quadratic Optimization
-
-```@docs
-ModelPredictiveControl.initpred!(::MovingHorizonEstimator, ::LinModel)
-ModelPredictiveControl.linconstraint!(::MovingHorizonEstimator, ::LinModel, ::TranscriptionMethod)
-```
-
 ## Solve Optimization Problem
 
 ```@docs
diff --git a/src/controller/transcription.jl b/src/controller/transcription.jl
index 8e5225881..5e03f58dc 100644
--- a/src/controller/transcription.jl
+++ b/src/controller/transcription.jl
@@ -800,7 +800,7 @@ end
 deletex̂end_lincon!(i_x̂min, i_x̂max, ::SimModel, ::SingleShooting, _, _, _, _) = i_x̂min, i_x̂max
 
 @doc raw"""
-    linconstraint!(mpc::PredictiveController, model::LinModel)
+    linconstraint!(mpc::PredictiveController, model::LinModel, ::TranscriptionMethod)
 
 Set `b` vector for the linear model inequality constraints (``\mathbf{A Z̃ ≤ b}``).
 
diff --git a/src/estimator/mhe/transcription.jl b/src/estimator/mhe/transcription.jl
index 7ef21432d..baa84c38d 100644
--- a/src/estimator/mhe/transcription.jl
+++ b/src/estimator/mhe/transcription.jl
@@ -79,7 +79,7 @@ from ``j=N_k-1`` to ``0``, also in deviation form, are computed with:
 ```
 The matrices ``\mathbf{E, G, J, B, E_X̂, G_X̂, J_X̂, B_X̂}`` are defined in the Extended Help 
 section. The vectors ``\mathbf{F, F_X̂, f_x̄}`` are recalculated at each discrete time step, 
-see [`initpred!(::MovingHorizonEstimator, ::LinModel)`](@ref) and [`linconstraint!(::MovingHorizonEstimator, ::LinModel)`](@ref).
+see [`initpred!`](@ref) and [`linconstraint!`](@ref).
 
 # Extended Help
 !!! details "Extended Help"

From 416a544c0b63cfe91a0af52b6a8bd4f2247b7a9a Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 27 Aug 2026 10:46:19 -0400
Subject: [PATCH 36/40] doc: correct method signature

---
 src/estimator/mhe/transcription.jl | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/estimator/mhe/transcription.jl b/src/estimator/mhe/transcription.jl
index baa84c38d..1194a2056 100644
--- a/src/estimator/mhe/transcription.jl
+++ b/src/estimator/mhe/transcription.jl
@@ -426,7 +426,7 @@ end
 @doc raw"""
     init_defectmat_mhe(
         model::LinModel, transcription::MultipleShooting, direct::Bool,
-        He, i_ym, Â, B̂u, Ĉm, B̂d, D̂dm, x̂op, f̂op, As, Co, λo
+        He, Â, B̂u, B̂d, x̂op, f̂op, As, Co, λo
     ) -> ES, GS, JS, BS
 
 Init the matrices for computing the defects over the predicted states.
@@ -511,7 +511,7 @@ end
 @doc raw"""
     init_defectmat_mhe(
         model::SimModel, transcription::TranscriptionMethod, direct::Bool,
-        He, Â, _ , _ , _ , _ , As, _ , _
+        He, Â, _ , _ , _ , _ , As, _ , _ 
     ) -> ES, GS, JS, BS
 
 Init the matrices for computing the defects of the stochastic states only.

From d6bd35847c70746db6e57346dc9c7e93461dc3c2 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 27 Aug 2026 11:35:16 -0400
Subject: [PATCH 37/40] doc: using anonymous functions in `NonLinModel` as a
 workaround See issue
 https://github.com/fredrikekre/DocumenterCodeBlocks.jl/issues/28

---
 src/model/nonlinmodel.jl | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/model/nonlinmodel.jl b/src/model/nonlinmodel.jl
index 282166199..01f3a9093 100644
--- a/src/model/nonlinmodel.jl
+++ b/src/model/nonlinmodel.jl
@@ -148,9 +148,9 @@ See also [`LinModel`](@ref).
 
 # Examples
 ```jldoctest
-julia> f!(ẋ, x, u, _ , p) = (ẋ .= p*x .+ u; nothing);
+julia> f! = (ẋ, x, u, _ , p) -> (ẋ .= p*x .+ u; nothing);
 
-julia> h!(y, x, _ , _ ) = (y .= 0.1x; nothing);
+julia> h! = (y, x, _ , _ ) -> (y .= 0.1x; nothing);
 
 julia> model1 = NonLinModel(f!, h!, 5.0, 1, 1, 1, p=-0.2)       # continuous dynamics
 NonLinModel with a sample time Ts = 5.0 s:
@@ -162,9 +162,9 @@ NonLinModel with a sample time Ts = 5.0 s:
   ├ 1 outputs y
   └ 0 measured disturbances d
 
-julia> f(x, u, _ , _ ) = 0.1x + u;
+julia> f = (x, u, _ , _ ) -> 0.1x + u;
 
-julia> h(x, _ , _ ) = 2x;
+julia> h = (x, _ , _ ) -> 2x;
 
 julia> model2 = NonLinModel(f, h, 2.0, 1, 1, 1, solver=nothing) # discrete dynamics
 NonLinModel with a sample time Ts = 2.0 s:

From 2d9104f27d248db1be12018934e9dacf8bb27f87 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 27 Aug 2026 11:41:00 -0400
Subject: [PATCH 38/40] doc: mistake in method signature

---
 Project.toml                | 2 +-
 src/estimator/luenberger.jl | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Project.toml b/Project.toml
index 32d811880..cf83496c7 100644
--- a/Project.toml
+++ b/Project.toml
@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "2.12.1"
+version = "2.12.2"
 authors = ["Francis Gagnon"]
 
 [deps]
diff --git a/src/estimator/luenberger.jl b/src/estimator/luenberger.jl
index 6f3c4db36..256f0bd0f 100644
--- a/src/estimator/luenberger.jl
+++ b/src/estimator/luenberger.jl
@@ -116,7 +116,7 @@ end
 
 
 """
-    correct_estimate!(estim::Luenberger, y0m, d0, _ )
+    correct_estimate!(estim::Luenberger, y0m, d0)
 
 Identical to [`correct_estimate!(::SteadyKalmanFilter)`](@ref) but using [`Luenberger`](@ref).
 """

From b75fd02524c73111ebc9df642591bddda276be6c Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 27 Aug 2026 12:26:53 -0400
Subject: [PATCH 39/40] doc: reverting anonymous function in `NonLinModel` The
 issue is still there anyway when calling the constructor.

---
 src/controller/transcription.jl    | 2 +-
 src/estimator/mhe/execute.jl       | 7 ++++++-
 src/estimator/mhe/transcription.jl | 4 +---
 src/model/nonlinmodel.jl           | 8 ++++----
 4 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/src/controller/transcription.jl b/src/controller/transcription.jl
index 5e03f58dc..0bba4380c 100644
--- a/src/controller/transcription.jl
+++ b/src/controller/transcription.jl
@@ -802,7 +802,7 @@ deletex̂end_lincon!(i_x̂min, i_x̂max, ::SimModel, ::SingleShooting, _, _, _,
 @doc raw"""
     linconstraint!(mpc::PredictiveController, model::LinModel, ::TranscriptionMethod)
 
-Set `b` vector for the linear model inequality constraints (``\mathbf{A Z̃ ≤ b}``).
+Set `b` vector for the linear model inequality constraints (``\mathbf{A Z̃ ≤ b}``) of MPC.
 
 Also init ``\mathbf{f_x̂} = \mathbf{g_x̂ d_0}(k) + \mathbf{j_x̂ D̂_0} + \mathbf{k_x̂ x̂_0}(k) + 
 \mathbf{v_x̂ u_0}(k-1) + \mathbf{b_x̂}`` vector for the terminal constraints, see
diff --git a/src/estimator/mhe/execute.jl b/src/estimator/mhe/execute.jl
index ae3a22e02..d8a052f48 100644
--- a/src/estimator/mhe/execute.jl
+++ b/src/estimator/mhe/execute.jl
@@ -457,7 +457,12 @@ function initpred!(estim::MovingHorizonEstimator{NT}, model::LinModel) where NT<
     JuMP.set_objective_function(optim, obj_quadprog(Z̃var, H̃, q̃))
     return nothing
 end
-"Does nothing if `model` is not a [`LinModel`](@ref)."
+
+"""
+    initpred!(estim::MovingHorizonEstimator, LinModel::SimModel) -> nothing
+
+Does nothing if `model` is not a [`LinModel`](@ref).
+"""
 initpred!(::MovingHorizonEstimator, ::SimModel) = nothing
 
 "Get the estimated state at arrival from the decision vector `Z̃`."
diff --git a/src/estimator/mhe/transcription.jl b/src/estimator/mhe/transcription.jl
index 1194a2056..d2fbfe46a 100644
--- a/src/estimator/mhe/transcription.jl
+++ b/src/estimator/mhe/transcription.jl
@@ -816,9 +816,7 @@ function deleteŴ_lincon!(i_Ŵmin, i_Ŵmax, ::SimModel, ::TranscriptionMethod
 end
 
 @doc raw"""
-    linconstraint!(
-        estim::MovingHorizonEstimator, model::LinModel, transcription::TranscriptionMethod
-    )
+    linconstraint!(estim::MovingHorizonEstimator, model::LinModel, ::TranscriptionMethod)
 
 Set `b` vector for the linear inequality constraints (``\mathbf{A Z̃ ≤ b}``) of MHE.
 
diff --git a/src/model/nonlinmodel.jl b/src/model/nonlinmodel.jl
index 01f3a9093..282166199 100644
--- a/src/model/nonlinmodel.jl
+++ b/src/model/nonlinmodel.jl
@@ -148,9 +148,9 @@ See also [`LinModel`](@ref).
 
 # Examples
 ```jldoctest
-julia> f! = (ẋ, x, u, _ , p) -> (ẋ .= p*x .+ u; nothing);
+julia> f!(ẋ, x, u, _ , p) = (ẋ .= p*x .+ u; nothing);
 
-julia> h! = (y, x, _ , _ ) -> (y .= 0.1x; nothing);
+julia> h!(y, x, _ , _ ) = (y .= 0.1x; nothing);
 
 julia> model1 = NonLinModel(f!, h!, 5.0, 1, 1, 1, p=-0.2)       # continuous dynamics
 NonLinModel with a sample time Ts = 5.0 s:
@@ -162,9 +162,9 @@ NonLinModel with a sample time Ts = 5.0 s:
   ├ 1 outputs y
   └ 0 measured disturbances d
 
-julia> f = (x, u, _ , _ ) -> 0.1x + u;
+julia> f(x, u, _ , _ ) = 0.1x + u;
 
-julia> h = (x, _ , _ ) -> 2x;
+julia> h(x, _ , _ ) = 2x;
 
 julia> model2 = NonLinModel(f, h, 2.0, 1, 1, 1, solver=nothing) # discrete dynamics
 NonLinModel with a sample time Ts = 2.0 s:

From 5e83b0da1eaa34b362d78f0cc0faecace34a33e5 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 27 Aug 2026 12:30:18 -0400
Subject: [PATCH 40/40] doc: more precise header The hessian is always updated
 in the MHE.

---
 docs/src/internals/misc.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/src/internals/misc.md b/docs/src/internals/misc.md
index 7a1e699e8..9dbd5b617 100644
--- a/docs/src/internals/misc.md
+++ b/docs/src/internals/misc.md
@@ -10,7 +10,7 @@ Pages = ["misc.md"]
 ModelPredictiveControl.init_orthocolloc
 ```
 
-## Update Optimization Linear Terms
+## Update Linear and Quadratic Terms
 
 ```@docs
 ModelPredictiveControl.initpred!