test: new NonLinMPC disturbance rejection test with MultipleShooting and nint_u options - #420
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It allows to test that the multiple shooting transcription work as expected, since the stochastic defect are treated separately as linear equality constraints.
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It verifies that the unmeasured disturbance model transcribed as a multiple shooting works as expected, since the stochastic defects are treated separately as linear equality constraints (precisely, to verify that the
ModelPredictiveControl.disturbedinput!function does it jobs as expected).