# \[ANN\] ModelPredictiveControl.jl

**URL:** <https://discourse.julialang.org/t/ann-modelpredictivecontrol-jl/100147>\
**Category:** Package Announcements\
**Tags:** control, jump, controlsystems, nmpc\
**Created:** [June 10, 2023, 6:10pm UTC](https://discourse.julialang.org/t/ann-modelpredictivecontrol-jl/100147 "2023-06-10T18:10:43Z")\
**Posts on this page:** 4\
**Page:** 5

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**Author:** ![franckgaga](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/franckgaga/32/218241_2.png) [@franckgaga](https://discourse.julialang.org/u/franckgaga)\
**Post date:** [September 25, 2026, 4:11am UTC](https://discourse.julialang.org/t/ann-modelpredictivecontrol-jl/100147/81 "2026-09-25T04:11:01Z")

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**ModelPredictiveControl.jl v2.14.1**

The 2.14 release introduces the support of `NonLinModelDAE` for the `MovingHorizonEstimator`. I added a nice tutorial on a pH neutralization process. See it here: [Nonlinear Design (DAE) · ModelPredictiveControl.jl](https://juliacontrol.github.io/ModelPredictiveControl.jl/stable/manual/nonlinmpc2/)

Next step: supporting `NonLinModelDAE` in `NonLinMPC`. Should be drastically easier than MHE. So, expect a new release in the next weeks!

 ![image](https://global.discourse-cdn.com/julialang/original/3X/1/a/1a7d9ac30383b04742a1b2723c7cf6092e0ecdc7.png)

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**Author:** ![dcelisgarza](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/dcelisgarza/32/215951_2.png) [@dcelisgarza](https://discourse.julialang.org/u/dcelisgarza)\
**Post date:** [September 25, 2026, 7:36pm UTC](https://discourse.julialang.org/t/ann-modelpredictivecontrol-jl/100147/82 "2026-09-25T19:36:05Z")

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I get so jealous over how nice your docs and examples are.

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<div class="post-metadata">

**Author:** ![franckgaga](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/franckgaga/32/218241_2.png) [@franckgaga](https://discourse.julialang.org/u/franckgaga)\
**Post date:** [September 25, 2026, 7:56pm UTC](https://discourse.julialang.org/t/ann-modelpredictivecontrol-jl/100147/83 "2026-09-25T19:56:38Z")

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Many thanks 😁 ! I think we all have to acknowledge by the way the enormous work of Donald Knuth and Till Tantau for the iconic Computer Modern font, LaTeX and TikZ. They are not easy-to-use tools, but the results is clearly unmatched by anything else (although Typst seems like a strong contender!). They are aesthetes among scientists. It doesn’t grow on trees!

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<div class="post-metadata">

**Author:** ![franckgaga](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/franckgaga/32/218241_2.png) [@franckgaga](https://discourse.julialang.org/u/franckgaga)\
**Post date:** [October 16, 2026, 10:04pm UTC](https://discourse.julialang.org/t/ann-modelpredictivecontrol-jl/100147/84 "2026-10-16T22:04:56Z")

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**ModelPredictiveControl v2.15.0**

The 2.14.1, 2.14.2, 2.14.3 and 2.14.4 releases introduced some bugfixes related to DAE systems. The v2.15.0 will be released in a few minutes, and now the `NonLinMPC` fully supports `NonLinModelDAE`. I completed the pH neutralization tutorial with an adapative NMPC strategy with tight constraints on the pH. See it in action here: [Nonlinear Design (DAE) · ModelPredictiveControl.jl](https://juliacontrol.github.io/ModelPredictiveControl.jl/dev/manual/nonlinmpc2/#Adaptive-Nonlinear-Model-Predictive-Control)

 ![image](https://global.discourse-cdn.com/julialang/original/3X/1/a/1a7d9ac30383b04742a1b2723c7cf6092e0ecdc7.png)

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