Update Project.toml and tutorial-mpc.md

Author: ocots

Project.toml

@@ -1,7 +1,11 @@
 name = "Tutorials"
 uuid = "cb10daa6-a5e5-4c25-a171-ae181b8ea3c9"
+version = "0.4.1"
 authors = ["Olivier Cots <olivier.cots@toulouse-inp.fr>"]
-version = "0.4.0"
+
+[deps]
+OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
 
 [compat]
+OrdinaryDiffEq = "6.111.0"
 julia = "1.10"

docs/src/tutorial-mpc.md

@@ -169,6 +169,7 @@ function solve(t0, x0, y0, θ0, xf, yf, θf, w;
         -1 ≤ u(t) ≤ 1
         -2 ≤ x(t) ≤ 4.25
         -2 ≤ y(t) ≤ 8
+        -2π ≤ θ(t) ≤ 2π
 
         q(t0) == [x0, y0, θ0]
         q(tf) == [xf, yf, θf]