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Merged
merged 2 commits into from
Nov 16, 2025
Merged

bench: new EMPC tests with hessian=true #287

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54ee2b3
bench: new EMPC tests with `hessian=true`
franckgaga Nov 16, 2025
c41a8eb
bench: adding `@benchmarkable` entries
franckgaga Nov 16, 2025
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33 changes: 33 additions & 0 deletions benchmark/3_bench_predictive_control.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -417,18 +417,36 @@ empc_ipopt_ss = NonLinMPC(estim2; Hp, Hc, Nwt, Mwt=Mwt2, Cwt, JE, Ewt, optim, tr
empc_ipopt_ss = setconstraint!(empc_ipopt_ss; umin, umax)
JuMP.unset_time_limit_sec(empc_ipopt_ss.optim)

optim = JuMP.Model(optimizer_with_attributes(Ipopt.Optimizer,"sb"=>"yes"), add_bridges=false)
transcription, hessian = SingleShooting(), true
empc_ipopt_ss_hess = NonLinMPC(estim2; Hp, Hc, Nwt, Mwt=Mwt2, Cwt, JE, Ewt, optim, transcription, hessian, p)
empc_ipopt_ss_hess = setconstraint!(empc_ipopt_ss_hess; umin, umax)
JuMP.unset_time_limit_sec(empc_ipopt_ss_hess.optim)

optim = JuMP.Model(optimizer_with_attributes(Ipopt.Optimizer,"sb"=>"yes"), add_bridges=false)
transcription = MultipleShooting()
empc_ipopt_ms = NonLinMPC(estim2; Hp, Hc, Nwt, Mwt=Mwt2, Cwt, JE, Ewt, optim, transcription, p)
empc_ipopt_ms = setconstraint!(empc_ipopt_ms; umin, umax)
JuMP.unset_time_limit_sec(empc_ipopt_ms.optim)

optim = JuMP.Model(optimizer_with_attributes(Ipopt.Optimizer,"sb"=>"yes"), add_bridges=false)
transcription, hessian = MultipleShooting(), true
empc_ipopt_ms_hess = NonLinMPC(estim2; Hp, Hc, Nwt, Mwt=Mwt2, Cwt, JE, Ewt, optim, transcription, hessian, p)
empc_ipopt_ms_hess = setconstraint!(empc_ipopt_ms_hess; umin, umax)
JuMP.unset_time_limit_sec(empc_ipopt_ms_hess.optim)

optim = JuMP.Model(optimizer_with_attributes(Ipopt.Optimizer,"sb"=>"yes"), add_bridges=false)
transcription = TrapezoidalCollocation()
empc_ipopt_tc = NonLinMPC(estim2; Hp, Hc, Nwt, Mwt=Mwt2, Cwt, JE, Ewt, optim, transcription, p)
empc_ipopt_tc = setconstraint!(empc_ipopt_tc; umin, umax)
JuMP.unset_time_limit_sec(empc_ipopt_tc.optim)

optim = JuMP.Model(optimizer_with_attributes(Ipopt.Optimizer,"sb"=>"yes"), add_bridges=false)
transcription, hessian = TrapezoidalCollocation(), true
empc_ipopt_tc_hess = NonLinMPC(estim2; Hp, Hc, Nwt, Mwt=Mwt2, Cwt, JE, Ewt, optim, transcription, hessian, p)
empc_ipopt_tc_hess = setconstraint!(empc_ipopt_tc_hess; umin, umax)
JuMP.unset_time_limit_sec(empc_ipopt_tc_hess.optim)

optim = JuMP.Model(MadNLP.Optimizer, add_bridges=false)
transcription = SingleShooting()
empc_madnlp_ss = NonLinMPC(estim2; Hp, Hc, Nwt, Mwt=Mwt2, Cwt, JE, Ewt, optim, transcription, p)
Expand All @@ -443,16 +461,31 @@ CASE_MPC["Pendulum"]["NonLinMPC"]["Economic"]["Ipopt"]["SingleShooting"] =
sim!($empc_ipopt_ss, $N, $ry; plant=$plant2, x_0=$x_0, x̂_0=$x̂_0, progress=false),
samples=samples, evals=evals, seconds=seconds
)
CASE_MPC["Pendulum"]["NonLinMPC"]["Economic"]["Ipopt"]["SingleShooting (Hessian)"] =
@benchmarkable(
sim!($empc_ipopt_ss_hess, $N, $ry; plant=$plant2, x_0=$x_0, x̂_0=$x̂_0, progress=false),
samples=samples, evals=evals, seconds=seconds
)
CASE_MPC["Pendulum"]["NonLinMPC"]["Economic"]["Ipopt"]["MultipleShooting"] =
@benchmarkable(
sim!($empc_ipopt_ms, $N, $ry; plant=$plant2, x_0=$x_0, x̂_0=$x̂_0, progress=false),
samples=samples, evals=evals, seconds=seconds
)
CASE_MPC["Pendulum"]["NonLinMPC"]["Economic"]["Ipopt"]["MultipleShooting (Hessian)"] =
@benchmarkable(
sim!($empc_ipopt_ms_hess, $N, $ry; plant=$plant2, x_0=$x_0, x̂_0=$x̂_0, progress=false),
samples=samples, evals=evals, seconds=seconds
)
CASE_MPC["Pendulum"]["NonLinMPC"]["Economic"]["Ipopt"]["TrapezoidalCollocation"] =
@benchmarkable(
sim!($empc_ipopt_tc, $N, $ry; plant=$plant2, x_0=$x_0, x̂_0=$x̂_0, progress=false),
samples=samples, evals=evals, seconds=seconds
)
CASE_MPC["Pendulum"]["NonLinMPC"]["Economic"]["Ipopt"]["TrapezoidalCollocation (Hessian)"] =
@benchmarkable(
sim!($empc_ipopt_tc_hess, $N, $ry; plant=$plant2, x_0=$x_0, x̂_0=$x̂_0, progress=false),
samples=samples, evals=evals, seconds=seconds
)
CASE_MPC["Pendulum"]["NonLinMPC"]["Economic"]["MadNLP"]["SingleShooting"] =
@benchmarkable(
sim!($empc_madnlp_ss, $N, $ry; plant=$plant2, x_0=$x_0, x̂_0=$x̂_0, progress=false),
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