update readme

Author: AtsushiSakai

Diff for: README.md

@@ -1,17 +1,36 @@
 # PyAdvancedControl
 
-[![Build Status](https://travis-ci.org/AtsushiSakai/PyAdvancedControl.svg?branch=master)](https://travis-ci.org/AtsushiSakai/PyAdvancedControl)
-
 Python Codes for Advanced Control
 
 # lqr_sample
 
-Linear-Quadratic Regulator sample code
+This is a sample code of Linear-Quadratic Regulator
 
 ![1](https://github.com/AtsushiSakai/PyAdvancedControl/blob/master/lqr_sample/result.png)
 
 # finite_horizon_optimal_control
 
-finite horizon optimal control sample code
+This is a finite horizon optimal control sample code
 
 ![1](https://github.com/AtsushiSakai/PyAdvancedControl/blob/master/finite_horizon_optimal_control/result.png)
+
+# mpc_modeling 
+
+This is a sample code for model predictive control optimization modeling without any modeling tool (e.g cvxpy)
+
+This means it only use a solver (cvxopt) for MPC optimization.
+
+It includes two MPC optimization functions:
+
+1. opt_mpc_with_input_const()
+
+It can be applied input constraints (not state constraints).
+
+2. opt_mpc_with_state_const()
+
+It can be applied state constraints and input constraints.
+
+
+![1](https://github.com/AtsushiSakai/PyAdvancedControl/blob/master/mpc_modeling/result.png)
+
+

Diff for: mpc_modeling/mpc_modeling.py

@@ -68,7 +68,7 @@ def opt_mpc_with_input_const(A, B, N, Q, R, P, x0, umax=None, umin=None):
 
     return
         x: state
-        u: state
+        u: input
     """
     (nx, nu) = B.shape
 
@@ -526,8 +526,8 @@ def test_output_check(rx1, rx2, ru, x1, x2, u):
 if __name__ == '__main__':
     DEBUG_ = True
     #  test1()
-    test2()
+    #  test2()
     #  test3()
     #  test4()
     #  test5()
-    #  test6()
+    test6()