Control variable

.github/workflows/Breakage.yml

@@ -9,7 +9,7 @@ on:
 
 jobs:
   break-pkg:
-    if: ${{ ! contains(github.event.pull_request.labels.*.name, 'run breakage applications') }}
+    if: contains(github.event.pull_request.labels.*.name, 'run breakage')
     strategy:
       fail-fast: false
       matrix:

.github/workflows/CI.yml

@@ -10,7 +10,7 @@ on:
 
 jobs:
   test-cpu-github:
-    if: contains(github.event.pull_request.labels.*.name, 'run ci cpu')
+    if: github.event_name != 'pull_request' || contains(github.event.pull_request.labels.*.name, 'run ci cpu')
     uses: control-toolbox/CTActions/.github/workflows/ci.yml@main
     with:
       versions: '["1.12"]'
@@ -22,7 +22,7 @@ jobs:
 
   # Job pour le runner self-hosted kkt (GPU/CUDA)
   test-gpu-kkt:
-    if: contains(github.event.pull_request.labels.*.name, 'run ci gpu')
+    if: github.event_name != 'pull_request' || contains(github.event.pull_request.labels.*.name, 'run ci gpu')
     uses: control-toolbox/CTActions/.github/workflows/ci.yml@main
     with:
       versions: '["1"]'

.github/workflows/Documentation.yml

@@ -10,7 +10,7 @@ on:
 
 jobs:
   call:
-    if: contains(github.event.pull_request.labels.*.name, 'run documentation')
+    if: github.event_name != 'pull_request' || contains(github.event.pull_request.labels.*.name, 'run documentation')
     uses: control-toolbox/CTActions/.github/workflows/documentation.yml@main
     with:
       use_ct_registry: true

CHANGELOG.md

@@ -17,12 +17,19 @@ Versions follow [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
   - Indirect methods for touch point (2-arc) and boundary arc (3-arc) cases with shooting functions
   - Theoretical references: Bryson et al. (1963), Jacobson et al. (1971), Bryson & Ho (1975)
   - Hamiltonian-based adjoint chain explanations for boundary arc dynamics
+  - New example for problems mixing control and variable (`example-control-and-variable.md`) with two examples:
+    - Exponential growth rate estimation with control (non-autonomous problem)
+    - Harmonic oscillator pulsation optimization with control (autonomous problem)
+  - Demonstrates optimal control problems with both control variables and constant parameters to optimize
+  - Indirect methods with augmented Hamiltonian and maximising control laws
 
 ### Changed
 
 - **Documentation organization**:
   - Extracted state constraint section from `example-double-integrator-energy.md` into dedicated example file
   - Added cross-references between energy minimization and state constraint examples
+  - Added "Control and variable" example to Basic Examples section in documentation navigation
+  - Fixed heading level in `example-control-free.md` (## -> ###) for proper hierarchy
 
 - **Dependencies**:
   - Updated UnoSolver from v0.2 to v0.3

docs/make.jl

@@ -208,6 +208,7 @@ with_api_reference(src_dir, ext_dir) do api_pages
                 "Energy minimisation" => "example-double-integrator-energy.md",
                 "Time mininimisation" => "example-double-integrator-time.md",
                 "Control-free problems" => "example-control-free.md",
+                "Control and variable" => "example-control-and-variable.md",
                 "Singular control" => "example-singular-control.md",
                 "State constraint" => "example-state-constraint.md",
             ],

docs/src/assets/Project.toml

@@ -22,7 +22,6 @@ MarkdownAST = "d0879d2d-cac2-40c8-9cee-1863dc0c7391"
 NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
 NLPModelsKnitro = "bec4dd0d-7755-52d5-9a02-22f0ffc7efcb"
 NonlinearSolve = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
-OptimalControl = "5f98b655-cc9a-415a-b60e-744165666948"
 OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 UnoSolver = "1baa60ac-02f7-4b39-a7a8-2f4f58486b05"
@@ -54,7 +53,4 @@ NonlinearSolve = "4"
 OrdinaryDiffEq = "6"
 Plots = "1"
 UnoSolver = "0.3"
-julia = "1.10"
-
-[sources]
-OptimalControl = {path = ".."}
+julia = "1.10"