JuliaControl · franckgaga · Jul 14, 2026 · Jul 14, 2026 · Jul 14, 2026 · Jul 15, 2026
diff --git a/docs/src/internals/predictive_control.md b/docs/src/internals/predictive_control.md
@@ -43,7 +43,7 @@ ModelPredictiveControl.linconstrainteq!
 
 ```@docs
 ModelPredictiveControl.optim_objective!(::PredictiveController)
-ModelPredictiveControl.set_warmstart!
+ModelPredictiveControl.set_warmstart_mpc!
 ModelPredictiveControl.predict!
 ModelPredictiveControl.disturbedinput!
 ModelPredictiveControl.con_nonlinprog!

diff --git a/docs/src/internals/state_estim.md b/docs/src/internals/state_estim.md
@@ -12,6 +12,7 @@ ModelPredictiveControl.init_integrators
 ModelPredictiveControl.augment_model
 ModelPredictiveControl.init_ukf
 ModelPredictiveControl.init_internalmodel
+ModelPredictiveControl.init_ZtoŴ
 ModelPredictiveControl.init_predmat_mhe
 ModelPredictiveControl.relaxarrival
 ModelPredictiveControl.relaxX̂

diff --git a/docs/src/public/generic_func.md b/docs/src/public/generic_func.md
@@ -7,6 +7,38 @@ Pages = ["generic_func.md"]
 This page contains the documentation of functions that are generic to [`SimModel`](@ref),
 [`StateEstimator`](@ref) and [`PredictiveController`](@ref) types.
 
+## Direct Transcription Methods
+
+### TranscriptionMethod
+
+```@docs
+ModelPredictiveControl.TranscriptionMethod
+```
+
+### SingleShooting
+
+```@docs
+SingleShooting
+```
+
+### MultipleShooting
+
+```@docs
+MultipleShooting
+```
+
+### TrapezoidalCollocation
+
+```@docs
+TrapezoidalCollocation
+```
+
+### OrthogonalCollocation
+
+```@docs
+OrthogonalCollocation
+```
+
 ## Set Constraint
 
 ```@docs

diff --git a/docs/src/public/predictive_control.md b/docs/src/public/predictive_control.md
@@ -103,35 +103,3 @@ NonLinMPC
 ```@docs
 moveinput!
 ```
-
-## Direct Transcription Methods
-
-### TranscriptionMethod
-
-```@docs
-ModelPredictiveControl.TranscriptionMethod
-```
-
-### SingleShooting
-
-```@docs
-SingleShooting
-```
-
-### MultipleShooting
-
-```@docs
-MultipleShooting
-```
-
-### TrapezoidalCollocation
-
-```@docs
-TrapezoidalCollocation
-```
-
-### OrthogonalCollocation
-
-```@docs
-OrthogonalCollocation
-```
diff --git a/src/ModelPredictiveControl.jl b/src/ModelPredictiveControl.jl
@@ -58,6 +58,7 @@ export SimResult, getinfo, sim!
 
 include("general.jl")
 include("sim_model.jl")
+include("transcription.jl")
 include("state_estim.jl")
 include("predictive_control.jl")
 include("plot_sim.jl")