add not implemented test/fix for continuous MPC

murrayrm · murrayrm · commit 4c197caa9e3c · 2022-03-30T07:48:14.000-07:00
diff --git a/control/optimal.py b/control/optimal.py
@@ -776,7 +776,7 @@ def create_mpc_iosystem(self):
         """Create an I/O system implementing an MPC controller"""
         # Check to make sure we are in discrete time
         if self.system.dt == 0:
-            raise ControlNotImplemented(
+            raise ct.ControlNotImplemented(
                 "MPC for continuous time systems not implemented")
 
         def _update(t, x, u, params={}):
