From 9127336911fb28603ce7c629e9d98a309253917e Mon Sep 17 00:00:00 2001 From: franckgaga Date: Thu, 12 Mar 2026 13:39:53 -0400 Subject: [PATCH 1/2] doc: minor correction --- src/controller/transcription.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/controller/transcription.jl b/src/controller/transcription.jl index fa24f4d2a..5c3246d4d 100644 --- a/src/controller/transcription.jl +++ b/src/controller/transcription.jl @@ -1567,7 +1567,7 @@ and disturbances are piecewise constant or linear: ```math \begin{aligned} \mathbf{û}_i(k+j) &= \begin{cases} - \mathbf{û_0}(k+1) & h = 0 \\ + \mathbf{û_0}(k+j) & h = 0 \\ (1-τ_i)\mathbf{û_0}(k+j) + τ_i\mathbf{û_0}(k+j+1) & h = 1 \end{cases} \\ \mathbf{d̂}_i(k+j) &= (1-τ_i)\mathbf{d̂_0}(k+j) + τ_i\mathbf{d̂_0}(k+j+1) \end{aligned} From 02d4dd423471475a409eb0f80c7c500dd241e9e8 Mon Sep 17 00:00:00 2001 From: franckgaga Date: Thu, 12 Mar 2026 13:41:46 -0400 Subject: [PATCH 2/2] doc: idem --- docs/src/manual/mtk.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/src/manual/mtk.md b/docs/src/manual/mtk.md index 2a514e0f2..854e31bc0 100644 --- a/docs/src/manual/mtk.md +++ b/docs/src/manual/mtk.md @@ -86,7 +86,7 @@ function generate_f_h(model, inputs, outputs) try # MTK.jl supports a `u` argument in `h_ip` function but not this package. We set # `u` as a vector of nothing and `h_ip` function will presumably throw an - # MethodError it this argument is used inside the function + # MethodError if this argument is used inside the function h_ip(y, x, u_nothing, p, nothing) catch err if err isa MethodError