Fix typos in docstrings, error messages, and verbose output (#33)

* Fix wrong step printed in closed-loop simulations

The previous step variable printed as a verbose output was the
n-mpc step, which remained constant for n-mpc steps when n-mpc was
greater than 1. Now, the step variable printed is the actual control
step.

* Fix docstring typo and remove comment in LTI controller

- Rename `y_r_param` to `y_s_param` in the docstring of the
  `set_input_output_setpoints` method, as it was a typo.
- Remove leftover comment.

* Fix wrong error message in nonlinear controller

Replace `self.y_s.shape` with `self.y_r.shape` in the `ValueError`
message of the `set_output_setpoint` method, as it was a typo.

Author: pavelacamposp

direct_data_driven_mpc/lti_data_driven_mpc_controller.py

@@ -1097,15 +1097,15 @@ def set_input_output_setpoints(
         Note:
             This method sets the values of the `u_s` and `y_s` attributes with
             the provided new setpoints and updates the values of `u_s_param`
-            and `y_r_param` to update the data-driven MPC controller setpoint.
+            and `y_s_param` to update the data-driven MPC controller setpoint.
         """
         # Validate input types and dimensions
         if u_s.shape != self.u_s.shape:
             raise ValueError(
                 "Incorrect dimensions. `u_s` must have shape "
                 f"{self.u_s.shape}, but got {u_s.shape} instead."
             )
-        if y_s.shape != self.y_s.shape:  # Replace with actual expected shape
+        if y_s.shape != self.y_s.shape:
             raise ValueError(
                 "Incorrect dimensions. `y_s` must have shape "
                 f"{self.y_s.shape}, but got {y_s.shape} instead."

direct_data_driven_mpc/nonlinear_data_driven_mpc_controller.py

@@ -1385,7 +1385,7 @@ def set_output_setpoint(self, y_r: np.ndarray) -> None:
         if y_r.shape != self.y_r.shape:
             raise ValueError(
                 "Incorrect dimensions. `y_r` must have shape "
-                f"{self.y_s.shape}, but got {y_r.shape} instead."
+                f"{self.y_r.shape}, but got {y_r.shape} instead."
             )
 
         # Update output setpoint and its parameter value

direct_data_driven_mpc/utilities/controller/data_driven_mpc_sim.py

@@ -134,7 +134,7 @@ def simulate_lti_data_driven_mpc_control_loop(
             mpc_cost_val = data_driven_mpc_controller.get_optimal_cost_value()
             print_mpc_step_info(
                 verbose=verbose,
-                step=t,
+                step=k,
                 mpc_cost_val=mpc_cost_val,
                 u_sys_k=u_sys[k, :].flatten(),
                 u_s=u_s.flatten(),
@@ -305,7 +305,7 @@ def simulate_nonlinear_data_driven_mpc_control_loop(
             mpc_cost_val = data_driven_mpc_controller.get_optimal_cost_value()
             print_mpc_step_info(
                 verbose=verbose,
-                step=t,
+                step=k,
                 mpc_cost_val=mpc_cost_val,
                 y_sys_k=y_sys[k, :].flatten(),
                 y_s=y_r.flatten(),