Merge pull request #122 from JuliaControl/mtk_compat

Add compat details on MTK.jl bugfixes

docs/Project.toml

@@ -16,4 +16,4 @@ JuMP = "1"
 LinearAlgebra = "1.6"
 Logging = "1.6"
 Plots = "1"
-ModelingToolkit = "~9.41"
+ModelingToolkit = "9.50"

docs/src/manual/mtk.md

@@ -23,7 +23,7 @@ the last section.
     will work for all corner cases.
 
 !!! compat
-    The example only work with `ModelingToolkit.jl` v9.41 releases.
+    The example relies on features and bugfixes of `ModelingToolkit.jl` v9.50.
 
 We first construct and instantiate the pendulum model:
 
@@ -79,16 +79,14 @@ function generate_f_h(model, inputs, outputs)
         end
         return nothing
     end
-    return_inplace = true
     (_, h_ip) = ModelingToolkit.build_explicit_observed_function(
-        io_sys, outputs; inputs, return_inplace
+        io_sys, outputs; inputs, return_inplace = true
     )
-    println(h_ip)
     u_nothing = fill(nothing, nu)
     function h!(y, x, _ , p)
         try
-            # MTK.jl supports a `u` argument in `h_` function but not this package. We set
-            # `u` as a vector of nothing and `h_` function will presumably throw an
+            # MTK.jl supports a `u` argument in `h_ip` function but not this package. We set
+            # `u` as a vector of nothing and `h_ip` function will presumably throw an
             # MethodError it this argument is used inside the function
             h_ip(y, x, u_nothing, p, nothing)
         catch err